@1581532057.86PST = =mMAIN_scheduler =tMAIN @PST1581532060.84 #"core_reset"Sent BREAK +2 #t@0xE85F, state=0x3350, ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.22 I2C Gateway v3.06 +209 #>RESET< ESP2 v3.22 I2C Gateway v3.06 for core bus +329 #\ Configuration for mack by maro@mbari.org\ /home/brent/esp2/type/shallow/mack/configure.rb\ +8 !o:ArgumentError: mesg"(wrong number of arguments (5 for 4):bt["G/home/brent/esp2/type/shallow/mack/configure.rb:45:in `initialize'"@/home/brent/esp2/type/shallow/mack/configure.rb:45:in `new'"7/home/brent/esp2/type/shallow/mack/configure.rb:45"4/home/brent/esp2/lib/framework.rb:117:in `load'"4/home/brent/esp2/lib/framework.rb:117:in `load'"7/home/brent/esp2/lib/framework.rb:171:in `execute'"3/home/brent/esp2/type/shallow/initialize.rb:57"4/home/brent/esp2/lib/framework.rb:117:in `load'"4/home/brent/esp2/lib/framework.rb:117:in `load'"7/home/brent/esp2/lib/framework.rb:171:in `execute'"//home/brent/esp2/lib/esp.rb:110:in `shell'"9/home/brent/esp2/lib/schedule.rb:482:in `initialize'"2/home/brent/esp2/lib/thread.rb:713:in `start'"9/home/brent/esp2/lib/schedule.rb:475:in `initialize'")/home/brent/esp2/lib/schedule.rb:473 +283 #-> exit +4 #mEXIT @1581532069.21PST @1581532097.26PST = =mMAIN_scheduler =tMAIN @PST1581532100.05 #"core_reset"Sent BREAK +3 #t@0x1D79, state=0x3350, ifg=0x00, ie=0x75 +2 #ESP2 v3.22 I2C Gateway v3.06 +16 #ESP2 v3.22 I2C Gateway v3.06 for core bus +284 !o:LoadError: mesg"No 'configure' script found on /home/brent/esp2/type/shallow/mack:/home/brent/esp2/type/shallow:/home/brent/esp2/type:/home/brent/esp2/admin:bt["4/home/brent/esp2/lib/framework.rb:116:in `load'"7/home/brent/esp2/lib/framework.rb:171:in `execute'"3/home/brent/esp2/type/shallow/initialize.rb:57"4/home/brent/esp2/lib/framework.rb:117:in `load'"4/home/brent/esp2/lib/framework.rb:117:in `load'"7/home/brent/esp2/lib/framework.rb:171:in `execute'"//home/brent/esp2/lib/esp.rb:110:in `shell'"9/home/brent/esp2/lib/schedule.rb:482:in `initialize'"2/home/brent/esp2/lib/thread.rb:713:in `start'"9/home/brent/esp2/lib/schedule.rb:475:in `initialize'")/home/brent/esp2/lib/schedule.rb:473 +718 #-> exit +2 #mEXIT @1581532110.31PST @1581532122.75PST = =mMAIN_scheduler =tMAIN @PST1581532124.73 #"core_reset"Sent BREAK +3 #t@0xF9B6, state=0x3350, ifg=0x00, ie=0x75 +2 #ESP2 v3.22 I2C Gateway v3.06 +16 #ESP2 v3.22 I2C Gateway v3.06 for core bus +254 #Configuration for mack 2/11/20 by brent@mbari.org\ /home/brent/esp2/type/shallow/mack/configure.rb\ +575 "Can"p\ e +2 p\ e +2 #tPolling Can every 10:00 +617 #-> ESP.configure +3 #Powering core bus +484 .Gate.power :raw,:ON +2 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +3 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %\ ~ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ x + .tSS.configure :default +2 "sampler")#.0X ESP.ready! +3 "collection"'% +4 "processing"%% +8 "core" %\ } +4 "manipulator"&% +10 ."rdySampler"Intake.select :close +8 .Exhaust.select :close +2 .CTV.dial :air +2 "collection"'  +8 "core" %\ +2 % o m +4 ."rdyProcessing"PSV.dial :air +6 "manipulator"&% +2 ."rdySampler"CSV.dial :waste1 +8 "processing"%  +2 "collection"' +10 "core" % n n +2  +2 .tForearm.reconfigure :loose +8 ."rdyProcessing"PS.reconfigure :default +8 "manipulator"&#@2^d^b +4 "processing"%#A d`xb +4 .tForearm.home.seek :retract +8 ."rdyProcessing"PS.home.seek 0ml +6 "manipulator"&'\ Z +2 "processing"%'y +8 "core" +4 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 "sampler") +6 "core"  +2 "sampler")  +6 "core"  +4 ."readyCS"CS.reconfigure :fast +8 ."rdySampler"SS.reconfigure :default +5 "collection"'#d @b +4 "sampler")#.0X  +2 "processing"%(& +4 "collection"')& +3 "core" &%\ + &\ w +2 .tCC.reconfigure :default +2 ."openPC"PC.reconfigure :default +4 "collection"'$x2 ^22b +3 .tCC.home.seek :open +3 "processing"%$x2 ^22b + "collection"'*( +2 ."openPC"PC.home.seek :open +3 "processing"%+(u +672 "core" ( +46 ( +4 "collection"', +6 "core"  +4 "processing"%- +6 "core" U +2 "processing"%. +6 "core"  +4 "processing"%/ +4 "core"  +4 "collection"'0% +6 "core" %/\ x +4 "processing"%1% +8 "core" %u\ +2 "sampler")2% +8 "core" %  Q\ r +4 "collection"'3& +6 "core" &\ w +2 "processing"%4& +8 "core" &b\  +2 "manipulator"&5% +8 "core" %\ d  u 8  +2 "manipulator"&6& +8 "core" & 3 ! +2 "storage"(7& +8 "core" &< \ | +2 "storage"(8% +8 "core" %y G\ | +3 "collection"'99 +5 "core" 9<> +4 "processing"%:9 +6 "core" 9wd +2085 #t-> Puck.count + "storage"(;% +3 "core" %y !\ | +2 .tSE.seek :down + "storage"(<'w +4 "core" ' + .tSE.coast + "storage"(5 +2 .tHand.open + "manipulator"&=1 +58 "core" 1 +2 "manipulator"&>% +4 "core" % \ e k l  + .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(?( +658 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (@& +3 "core" & "\ } + "manipulator"&A& +4 "core" & n l Y ! + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&B( +34 "core" ( +2 "manipulator"&C& +4 "core" & [ j  + "storage"(D& +4 "core" & \ ~ +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&E'R +101 "core" ' +2 "storage"(F& +4 "core" & \ ~ + .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G' +270 "core" ' +2 "storage"(H- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I% +2 "core" % N\ ~ +3 ."downElevator"SE.seek :down +3 "storage"(J'w +100 (K% +2 "core" %+X *\ {V_ +2 "manipulator"&L% +4 "core" %b k m  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&M'\ Z +90 "core" ' +65 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(N( A +185 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (O& +8 "core" & ? 1\  +4 "manipulator"&P& +6 "core" & l l  +4 .tElbow.seek 2 +2 "manipulator"&Q( +17 "core" ( +4 "manipulator"&R& +8 "core" & m p  +2 "storage"(S& +8 "core" & ? [ #\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts +2 "manipulator"&T'+ +104 "core" ' +2 "storage"(U& +4 "core" & ? | \  + .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V' +267 "core" ' +4 "storage"(W- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (X% +4 "core" %! v\ ~ +4 ."downElevator"SE.seek :down +8 "storage"(Y'w +99 (Z% +2 "core" %i\\ >\ {U^ +2 "manipulator"&[% +4 "core" %' l m % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\\'\ Z +92 "core" ' +68 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(]( +185 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (^& +3 "core" & \  + "manipulator"&_& +4 "core" & { p 1  +2 .tElbow.seek 3 + "manipulator"&`( +26 "core" ( +2 "manipulator"&a& +4 "core" &! u f ; # + "storage"(b& +4 "core" & ` \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts + "manipulator"&c'L +89 "core" ' +2 "storage"(d& +4 "core" & S g\  + .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e' +272 "core" ' +4 "storage"(f- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (g% +4 "core" %  \ } +4 ."downElevator"SE.seek :down +8 "storage"(h'w +99 (i% +6 "core" % \\ \ \ {V_ +3 "manipulator"&j% +4 "core" %K n o +2 .tForearm.reconfigure :loose +33 "manipulator"&#Q@2^d^b +11 .tForearm.seek :retract + "manipulator"&k'\ Z +92 "core" ' +23 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(l(, +190 "core" ( +3 .tSC.reconfigure :loose +5 "storage"($.(\ 1~b +3 (m& +8 "core" &, \ ~ +4 "manipulator"&n& +4 "core" &! l l # + .tElbow.seek 4 +2 "manipulator"&o(H +35 "core" ( +2 "manipulator"&p& +4 "core" &N g [ }  + "storage"(q& +4 "core" &, \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&r'e +91 "core" ' +2 "storage"(s& +4 "core" &, \  + .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t' +267 "core" ' +2 "storage"(u- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v% +3 "core" %  ]\ | +2 ."downElevator"SE.seek :down +3 "storage"(w'w +99 (x% +3 "core" %V *\ {U\\ +2 "manipulator"&y% +4 "core" %D f l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z'\ Z +93 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"({(< +184 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (|& +8 "core" &< \ \ +4 "manipulator"&}& +8 "core" &N d m  +2 .tElbow.seek 5 +4 "manipulator"&~( +36 "core" ( +4 "manipulator"&& +8 "core" & k l  +2 "storage"(& +8 "core" &< \ \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 800 counts +3 "manipulator"&'ϑ +93 "core" ' +2 "storage"(& +4 "core" &< c \ \ + .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +267 "core" ' +4 "storage"(- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (% +6 "core" % ( \ } +4 ."downElevator"SE.seek :down +6 "storage"('w +98 (% +3 "core" %5\\ \ zU^ + "manipulator"& % +4 "core" %ϔ k m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\ '\ Z +102 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 + "storage"( (L2 +185 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 ( & +2 "core" &L0" ,\ ~  +2 "manipulator"& & +4 "core" & k m D  + .tElbow.seek 6 +2 "manipulator"&(! +22 "core" ( +2 "manipulator"&& +4 "core" &< n j  + "storage"(& +4 "core" &L0" \ ~  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts + "manipulator"&'c +96 "core" ' +2 "storage"(& +4 "core" &L0! \ ~  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +267 "core" ' +4 "storage"(- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (% +4 "core" % ) \ } +4 ."downElevator"SE.seek :down +6 "storage"('w +100 (% +2 "core" %hZ $\ {T\\ +2 "manipulator"&% +4 "core" %i l c  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ Z +90 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(([ +186 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (& +6 "core" &[ \  + "manipulator"&"& +4 "core" &< l l  + .tElbow.seek 7 +2 "manipulator"&%( +20 "core" ( +2 "manipulator"&'& +4 "core" & l h m  + "storage"()& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts + "manipulator"&('H +91 "core" ' +2 "storage"(& +4 "core" &[ a (\  + .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +269 "core" ' +2 "storage"(#- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,% +3 "core" %  ;\ } +2 ."downElevator"SE.seek :down +3 "storage"(-'w +100 (.% +3 "core" %W \ {U] +2 "manipulator"&/% +4 "core" % n l \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&0'\ Z +92 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +831 #t-> access 2 +2 .SE.seek :down + "storage"(1'w +13 "core" ' +2 "manipulator"&2% +3 "core" %\ \\ m l +2 "manipulator"&3& +3 "core" & l m  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 + "storage"(4(L2 +184 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (5& +2 "core" &L5 E\  +460 #t-> access 1 +2 .SE.seek :down + "storage"(6'w +4 "core" ' + "manipulator"&7% +8 "core" %\ \\ l i +4 "manipulator"&8& +7 "core" & l l  +4 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +4 "storage"(9(< +182 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (:& +3 "core" &< \ } +1750 #t-> require 'shuffle2' +4 !o:LoadError: mesg"%no such file to load -- shuffle2:bt[ "(ESP):6:in `require'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +318 #-> require 'shuffle' +407 #-> shuffle2 +2 #Shuffling two pucks from tube 1 to 2 of [1..7] + #Loading generic puck from tube 1 into Collection Clamp + "collection"';& +3 "core" &\ x +2 "manipulator"&=% +4 "core" %\ \\ l h +2 "storage"(>% +3 "core" %o \ } + "storage"( . +3 "core" .(< +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(<( +660 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (!& +3 "core" & q\  + "manipulator"&@& +4 "core" & l m  + .tElbow.seek 1 +2 "manipulator"&A( +41 "core" ( +2 "manipulator"&C& +4 "core" & n j w  + "storage"(D& +4 "core" & \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts + "manipulator"&F'R +100 "core" ' +2 "storage"($& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&' +274 "core" ' +2 "storage"(H- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" & o\ } + "manipulator"&K& +4 "core" & m o [  +2 .tElbow.seek 1 + "manipulator"&L( +9 "core" ( +2 "manipulator"&G& +4 "core" & k h  z +2 "storage"(E& +4 "core" & \ ~ +2 .tForearm.seek 1 + 300 counts + "manipulator"&O'^ +37 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(S'w +7 "core" & q r 5 z +2 "manipulator"&J% +4 "core" % K } n   +2 .tForearm.seek :retract + "manipulator"&?'\ Z +93 "core" ' +2 .tElbow.seek CC + "manipulator"&U(S +157 "core" ' +4 ."downElevator"SE.coast +2 "storage"(5 +6 "core" ( +2 "manipulator"&B& +8 "core" &P\ ~  a +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &M& +8 "core" &P  a +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +2 "manipulator"&W' +100 "core" ' +2 "manipulator"&X& +4 "core" &Q  ` + "manipulator"&Z% +4 "core" %   +2 "collection"'[& +3 "core" &\ x +2 "collection"'V& +5 "core" &\ x +2 .tCC.seek :closed + "collection"'T(Y +4 "core" &\ x +8 &G\ v%h +9 &U\ r9 +10 &}\ rM +9 &c\ sP +10 &~d\ sP +9 & Ac\ sP +9 &"c\ sP +10 &#c\ sP +9 &%b\ tP +9 &'Kc\ sO +10 &) h\ sP +9 &*d\ tP +10 &,j\ sP +9 &.Sh\ sO +9 &0e\ sP +10 &1h\ sP +9 &3h\ sP +9 &5Zh\ sP +10 &7g\ sP +9 &8e\ sP +10 &:j\ sP +10 &#j\ sP +10 &?f\ sO +9 &Ae\ sO +9 &Cke\ sO +10 &E,c\ sP +9 &Fh\ sP +10 &Hj\ sP +9 &Jku\ rR +9 &L-z\ sR +10 &M\ rS +9 &O\ pV +9 &Q`\ oY +10 &S\ oZ +9 &T~\ o[ +10 &V~\ n[ +9 &Xa}\ nG +9 &Yv=\ q%m +10 &Yq\ sD +4 ( +6 "collection"'V& +6 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.90 +2 .Hand.open +2 "manipulator"&^1 +6 "core" &YZ~\ tD +51 1 + "manipulator"&_% +4 "core" %  ~ _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ Z +98 "core" ' +2 .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%b& +4 "core" &b<\  +2 "manipulator"&Y% +3 "core" %\ a l l  +2 "storage"(N% +3 "core" % \ } +2 "storage"(d. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(Q( +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (\\& +2 "core" & 4\ | +2 "manipulator"&f& +4 "core" &Q a j W ` + "manipulator"&g% +4 "core" %\ a m l w  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&i( +158 "core" ( +2 "manipulator"&j& +4 "core" & e k  + "storage"(e& +4 "core" & \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts + "manipulator"&c'R +92 "core" ' +2 "storage"(m& +38 "core" & \ ~ +11 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n' +275 "core" ' +2 "storage"(p- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" & \ z + "manipulator"&h& +4 "core" & j h  + .tElbow.seek 1 +2 "manipulator"&]( +3 "core" ( + "manipulator"&s& +4 "core" & j m B  + "storage"(`& +4 "core" & \ { +2 .tForearm.seek 1 + 300 counts +3 "manipulator"&k'^ +13 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&u/ +58 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&v& +2 "storage"(x'w +14 "core" & ~ s M  +2 "manipulator"&y% +8 "core" % d q  +4 .tForearm.seek :retract +2 "manipulator"&t'\ Z +93 "core" ' +2 .tElbow.seek PC + "manipulator"&r( +158 "core" ' +3 ."downElevator"SE.coast + "storage"(5 +90 "core" ( +4 "manipulator"&|& +8 "core" &\ r n m _ +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &}& +5 "core" &\  l a _ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&'s +103 "core" ' +2 "manipulator"&& +4 "core" &\ z } R _ + "manipulator"&w% +4 "core" %p l n +2 "processing"%l& +3 "core" &b,\  +2 "processing"%& +5 "core" &b,\  +2 .tPC.seek :closed + "processing"%o(Yy +6 "core" &b0\  +9 &2'\ +| +10 &b%\ ? +9 &-\ O +10 &r0\ O +9 &m*\ P +9 &!dn,\ O +10 &#'k&\ O +9 &$p'\ O +9 &&l0\ O +10 &(mm-\ O +9 &*/n*\ O +10 &+n&\ O +9 &-m&\ O +9 &/vo$\ O +10 &18m%\ O +9 &2n'\ O +9 &4m&\ O +10 &6~l$\ O +9 &8?m)\ O +10 &:l&\ O +9 &;n(\ O +9 &=k&\ O +10 &?Gn'\ O +9 &A n'\ O +9 &Bn+\ O +10 &Dp#\ O +9 &FOp\ O +11 &Hn \ O +9 &Ir\ O +9 &K\ Q +10 &MO$\ R +9 &O $\ T +9 &P%\ T +10 &R&\ U +9 &TN#\ U +9 &V%\ U +9 &W-\ L +9 &YJ%\ Z +10 &Y`G\ , +5 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.48 + .Hand.open + "manipulator"&z1 +4 "core" &Y`$\ , +59 1 + "manipulator"&% +4 "core" % ϟ l d ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ Z +95 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%& +4 "core" &Y`)\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +3 "core" %\ y o m O s +2 "storage"(% +3 "core" % \ | +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"( ( A +187 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 ( & +3 "core" & ?" \ z  + "manipulator"&& +4 "core" &\ z o 9 _ + "manipulator"&% +4 "core" %\ y j k V s +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&( +257 "core" ( +2 "manipulator"&{& +4 "core" & o k W  + "storage"(& +4 "core" & @ \ z + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts + "manipulator"&~'+ +99 "core" ' +2 "storage"(\ & +4 "core" & @ \ { + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +267 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(' +23 "core" ' +2 "manipulator"&& +4 "core" & n m J  +2 "manipulator"&% +3 "core" %: o m 3  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +89 "core" ' +2 .tElbow.seek PC + "manipulator"&( +251 "core" ( +2 "manipulator"&"& +4 "core" &\ h [ ` n + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &\ l m n +2 .tForearm.seek PC + "manipulator"&)'s +99 "core" ' +4 .tPC.seek :sealed + "processing"%(Ni +96 "core" ( +2 .tHand.close + "manipulator"& / +62 "core" / +2 .tPC.seek :open + "processing"%(u +320 "core" ( +2 "storage"(& +4 "core" & @ \ z + "manipulator"&& +4 "core" &\ . n + "manipulator"&#% +5 "core" % F  x E + .tForearm.seek :retract +2 "manipulator"&,'\ Z +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&.( +240 "core" ( +2 "manipulator"&/& +4 "core" & =  + "storage"(& +4 "core" & @ \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts + "manipulator"&('+ +98 "core" ' +2 .tHand.open + "manipulator"&-1 +56 "core" 1 +3 "storage"(- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"(2'l +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"(3't +85 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(5- +5 "core" -'t +2 "storage"(7& +3 "core" & @ \ w +2 "manipulator"&8& +3 "core" & l i z  +2 .tElbow.seek 2 + "manipulator"&:( +15 "core" ( +2 "manipulator"&1& +4 "core" & h k ]  + "storage"(4& +4 "core" & @ t q\ x +2 .tForearm.seek 2 + 800 counts + "manipulator"&;'+ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.07 Pucks below Top Plate + "storage"(=' +53 "core" ' +2 "manipulator"&>& +4 "core" & f j  + "storage"( & +4 "core" & @ \ \ | + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&9' +35 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(@' +20 "core" ' +2 "manipulator"&C% +4 "core" % 3 + "storage"(D& +4 "core" & @ q p %\ x + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&$'@ +19 "core" ' +2 "manipulator"&%& +4 "core" & k }  +2 "storage"(0& +3 "core" & @ (\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts + "manipulator"&H'+ +22 "core" ' +2 "storage"(I% +4 "core" % @\ | +2 ."downElevator"SE.seek :down +3 "storage"(K'w +100 (6% +4 "core" %fV p o \ wU\\ + "manipulator"&G% +4 "core" %7 _ m 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ Z +89 "core" ' +64 ' +2 ."downElevator"SE.coast +2 "storage"(5 +6 .tSC.coast "storage"(6 +6 (P& +6 "core" & @ \ ~ +4 "collection"'R& +7 "core" &YZ\ vD +3 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&J% +8 "core" %\ X k l  +2 "storage"(A% +8 "core" % \ } +2 "storage"(F. +6 "core" . +4 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 .tSC.seek 2 +2 "storage"(B( A +6 "core" ( +4 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (M& +8 "core" & @ \ } +2 "manipulator"&&& +8 "core" & l n  +2 .tElbow.seek 2 +4 "manipulator"&O( +8 "core" ( +4 "manipulator"&L& +8 "core" & k l U  +2 "storage"(X& +8 "core" & @ \ ~ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts +4 "manipulator"&Z'+ +96 "core" ' +2 "storage"([& +4 "core" & @ \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S' +275 "core" ' +4 "storage"(?- +6 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 "manipulator"&*& +6 "core" & l k  +2 "storage"(^& +8 "core" & @ \ { +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&_' +34 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.16 Pucks below Top Plate + "storage"(N'( +24 "core" ' +2 "manipulator"&d% +4 "core" % Z + "storage"(V& +4 "core" & @ \ z + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&\\'F +19 "core" ' +2 "manipulator"&f& +4 "core" & g j R  + "storage"(g& +4 "core" & @ \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts + "manipulator"&W'+ +23 "core" ' +2 .tSE.seek 1.16 Pucks below Top Plate +2 "storage"(j'* +36 "core" ' +2 "manipulator"&e& +4 "core" & l l  + "manipulator"&<% +4 "core" %1 i k  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ Z +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U(S +161 "core" ( +2 "manipulator"&a& +4 "core" &] h n ] "z + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" &] e k "z +2 .tForearm.seek CC + "manipulator"&q' +100 "core" ' +3 .tCC.seek :sealed + "collection"'h(P +94 "core" ( + .tHand.close +2 "manipulator"&s/ +57 "core" / +2 .tCC.seek :open + "collection"'`( +333 "core" ( +2 "storage"(u& +4 "core" & @ \ ~ +36 "storage"(v& +13 "core" & @ \ } + "manipulator"&y& +4 "core" &^  "y + "manipulator"&i% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&c'\ Z +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n( +155 "core" ( +2 "manipulator"&k& +4 "core" & | q <  + "storage"(|& +4 "core" & @ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&}' +108 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +3 "manipulator"&w% +4 "core" %  l +2 "storage"(l& +3 "core" & @ \ | + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&x'J +19 "core" ' +2 "manipulator"&t& +4 "core" & b e  + "storage"(+& +4 "core" & @  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&z'+ +20 "core" ' +2 "storage"(% +4 "core" %2  \  +2 ."downElevator"SE.seek :down +3 "storage"('w +99 ( % +3 "core" %Q \ }U[ + "manipulator"&% +4 "core" %% i b F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +88 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 2 to 3 of [1..7] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &\ z +2 "manipulator"&% +4 "core" %\ S n l + "storage"( % +4 "core" %   \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(( A +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (Q& +2 "core" & @   \  +2 "manipulator"&{& +3 "core" & l l  +2 .tElbow.seek 2 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&r& +4 "core" & m h k  + "storage"(\ & +4 "core" & @   c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&'+ +92 "core" ' +3 "storage"(& +4 "core" & @  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +280 "core" ' +4 "storage"(- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +2 "core" & @ b\ } +2 "manipulator"&~& +4 "core" & l l  + .tElbow.seek 2 +2 "manipulator"&"( +3 "core" ( + "manipulator"&'& +4 "core" & m l  + "storage"(& +4 "core" & @ \ } +2 .tForearm.seek 2 + 300 counts + "manipulator"& '7 +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +3 "storage"('w +4 "core" & p | +  + "manipulator"&% +4 "core" % 0 r { / +2 .tForearm.seek :retract + "manipulator"&'\ Z +92 "core" ' +2 .tElbow.seek CC + "manipulator"&#(S +159 "core" ( +2 "manipulator"&)& +4 "core" &U I "~ + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&/& +4 "core" &U  "~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&' +98 "core" ' +2 "manipulator"&& +4 "core" &V l "} + "manipulator"&-% +4 "core" %  +2 "collection"'& +3 "core" &\ y +2 "collection"'5& +5 "core" &\ y +2 .tCC.seek :closed +2 "collection"'7(Y +4 "core" &\ y +8 & /\ w$e +10 &T\ s8 +9 &~\ sM +10 &e\ uO +9 &a\ uO +9 & Uc\ uP +10 &"b\ uO +9 &#e\ uO +9 &%b\ uO +10 &'^a\ uO +9 &) _\ uO +10 &*b\ uP +10 &,`\ tO +9 &.ec\ uP +10 &0(c\ uO +9 &1`\ tO +9 &3c\ uO +10 &5pc\ uO +9 &72b\ tO +10 &8c\ tO +8 &:c\ tP +9 &7b\ uP +9 &?b\ uO +9 &Ad\ uO +10 &Cb\ uO +9 &EAc\ uO +10 &Gd\ uO +9 &Hg\ tP +9 &Jp\ tQ +10 &LAt\ uR +9 &N}\ sR +9 &O\ rV +10 &Qu\ qX +9 &S2\ pZ +10 &T\ pZ +9 &V\ p[ +9 &Xt\ oH +10 &Y{;\ q#k +9 &Yu\ tK +5 ( +2 "collection"'5& +3 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&,1 +3 "core" &Yu\ tK +50 1 + "manipulator"&8% +4 "core" % ' l k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ Z +91 "core" ' +2 .tSC.coast "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%4& +4 "core" &+\ +2 "manipulator"&>% +3 "core" %\ a h ` i o +2 "storage"( % +4 "core" % -\ | + "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(2( A +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (C& +3 "core" & @ \ | +2 "manipulator"&D& +4 "core" &V k l "} + "manipulator"&%% +4 "core" %\ a i m o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&0( +157 "core" ( +4 "manipulator"&I& +8 "core" & m j   +2 "storage"(.& +8 "core" & @ \ } +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts +2 "manipulator"&('+ +104 "core" ' +2 "storage"(3& +4 "core" & @ \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6' +280 "core" ' +4 "storage"(G- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (;& +6 "core" & @ \ z +2 "manipulator"&:& +8 "core" & l l  +2 .tElbow.seek 2 +4 "manipulator"&=( +6 "core" ( +2 "manipulator"&9& +8 "core" & l m  +2 "storage"($& +8 "core" & @ \ { +5 .tForearm.seek 2 + 300 counts +2 "manipulator"&P'7 +25 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"(J'w +7 "core" & l  N  + "manipulator"&A% +4 "core" % 2 h l +2 .tForearm.seek :retract + "manipulator"&F'\ Z +103 "core" ' +2 .tElbow.seek PC + "manipulator"&M( +155 "core" ' +3 ."downElevator"SE.coast +3 "storage"(5 +91 "core" ( +2 "manipulator"&&& +4 "core" &\ z r R ^ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &\ n m ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X's +97 "core" ' +2 "manipulator"&H& +4 "core" &\ U ^ + "manipulator"&[% +4 "core" %z  P +2 "processing"%K& +4 "core" &8\ +2 "processing"% & +4 "core" &*\ +2 .tPC.seek :closed + "processing"%!(Yy +4 "core" &-\  +10 &0%\ *x +9 &a&\ > +10 &2&\ O +9 &k(\ O +9 &l#\ O +10 &!vo*\ O +9 &#8k1\ O +10 &$m(\ O +9 &&m+\ O +9 &(~k*\ O +10 &*?k$\ P +9 &,k)\ O +9 &-k,\ O +10 &/m+\ O +9 &1Hk(\ O +9 &3\ l%\ O +10 &4k'\ O +9 &6j&\ O +10 &8Qk*\ O +9 &:j-\ O +9 &;n&\ O +10 &=k+\ O +9 &?Zk.\ O +9 &Am'\ O +10 &Bk'\ O +9 &Dn$\ O +10 &Fak%\ O +9 &H#n#\ O +9 &It!\ O +11 &K|"\ P +10 &Mc&\ Q +9 &O*\ S +9 &P)\ T +9 &R(\ U +10 &T_\ U +9 &V$\ V +9 &W'\ E +10 &YAx'\ (t +9 &Y[('\ ) +4 ( +7 "processing"% & +6 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.50 +2 .Hand.open +2 "manipulator"&E1 +6 "core" &Y[#\ ) +51 1 +2 "manipulator"&?% +8 "core" % z m m P +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&*'\ Z +92 "core" ' +2 .tSC.coast "storage"(6 +3 "processing"%^& +4 "core" &Y[\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Y% +5 "core" %\ c e j l  + "storage"(d% +4 "core" % +\ | + "storage"(V. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(f( +184 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +5 (g& +4 "manipulator"&e& +14 "core" & \ z +2 &\ i _ g ^ +6 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +8 "storage"(#]K-0-\ b +6 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +2 "manipulator"&<( +6 ."raiseStack"SE.seek :beamBreak +4 "storage"(Z' +4 "core" ( +2 "manipulator"&O& +8 "core" &\ m m ^ +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +7 &S& +4 "core" &\ n m ^ +4 .tForearm.seek PC +3 "manipulator"&_'s +101 "core" ' +3 .tPC.seek :sealed + "processing"%\\(Ni +94 "core" ( +2 .tHand.close + "manipulator"&N/ +26 "core" ' + "storage"(a- +3 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(p' +23 "core" ' +6 / +2 .tPC.seek :open +2 "processing"%W(u +316 "core" ( +2 "storage"(b& +4 "core" & \ z + "manipulator"&s& +4 "core" &\   ^ + "manipulator"&m% +4 "core" % 2 ~  > + .tForearm.seek :retract +2 "manipulator"&T'\ Z +131 "core" ' +11 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&h( +250 "core" ( +4 "manipulator"&u& +8 "core" & | r   +2 "storage"(v& +8 "core" & \ z +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 800 counts +3 "manipulator"&y'L +95 "core" ' +2 .tHand.open + "manipulator"&i1 +64 "core" 1 +2 "storage"(k- +4 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate + "storage"(|'l +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"(q't +47 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +3 "core" -'t +2 "storage"(& +3 "core" & J K \ o +2 "manipulator"&w& +4 "core" & l l  + .tElbow.seek 3 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&t& +4 "core" & h k P  +2 "storage"(+& +8 "core" & E K \ o +4 .tForearm.seek 3 + 800 counts +2 "manipulator"&'L +6 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.07 Pucks below Top Plate +4 "storage"(c' +58 "core" ' +4 "manipulator"& & +8 "core" & _ b y  +2 "storage"(& +8 "core" & \ z +3 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 3 +4 "manipulator"&n', +31 "core" ' +4 .tElbow.hold +2 "manipulator"&}, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +4 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 "manipulator"&x% +4 "core" %@   + "storage"(& +4 "core" & \ y + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"& 'l +18 "core" ' +2 "manipulator"&& +4 "core" & k h W  +2 "storage"(j& +4 "core" & N\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&Q'L +23 "core" ' +2 "storage"({% +4 "core" % '\ { +2 ."downElevator"SE.seek :down +4 "storage"(r'w +100 (\ % +3 "core" %<W m u \ wU\\ + "manipulator"&z% +4 "core" %[ k l E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ Z +91 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (& +4 "core" & \ } +2 "collection"'B& +4 "core" &Ys\ uK + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&]% +4 "core" %\ d ^ h U  +2 "storage"(% +4 "core" % \ } + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (~& +3 "core" & \ | +2 "manipulator"&'& +3 "core" & k l  +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & } z 5  +2 "storage"(o& +4 "core" & \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts + "manipulator"&'L +99 "core" ' +2 "storage"(& +4 "core" & \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +279 "core" ' +2 "storage"()- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +5 "core" & k k v  +3 "storage"(& +7 "core" & \ z +2 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(#b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +4 "manipulator"& ', +34 "core" ' +4 .tElbow.hold +2 "manipulator"&, +6 "core" , +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(-- +6 "core" -' +4 .tSE.seek 0.15 Pucks below Top Plate +4 "storage"('" +24 "core" ' +4 "manipulator"&"% +8 "core" %@  +2 "storage"(& +8 "core" & \ z +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 3 + 320 counts +2 "manipulator"&'l +18 "core" ' +4 "manipulator"&`& +8 "core" & l l }  +2 "storage"(,& +8 "core" & \ { +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 800 counts +2 "manipulator"&8'L +23 "core" ' +4 .tSE.seek 1.15 Pucks below Top Plate +4 "storage"(4'$ +40 "core" ' +2 "manipulator"&>& +4 "core" & k l q  + "manipulator"& % +4 "core" %T m l r P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +88 "core" ' +2 .tElbow.seek CC + "manipulator"&C(S +155 "core" ( +4 "manipulator"&5& +8 "core" &W m l | # +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &D& +6 "core" &W k l f # +4 .tForearm.seek CC +2 "manipulator"&%' +101 "core" ' +3 .tCC.seek :sealed + "collection"'(P +95 "core" ( +2 .tHand.close + "manipulator"&I/ +61 "core" / +2 .tCC.seek :open + "collection"'.( +330 "core" ( +2 "storage"(& +3 "core" & \ ~ +2 "storage"(3& +3 "core" & \ ~ +2 "manipulator"&#& +3 "core" &X 8 # +2 "manipulator"&1% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&G'\ Z +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&;( +150 "core" ( +2 "manipulator"&:& +4 "core" & k h ` \ + "storage"(9& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&$', +105 "core" ' +4 .tElbow.hold +2 "manipulator"&R, +6 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator"&@1 +55 "core" 1 +4 "manipulator"&A% +8 "core" % >  +4 "storage"(0& +6 "core" & \ ~ +3 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 3 + 318 counts +2 "manipulator"&('j +18 "core" ' +2 "manipulator"&6& +4 "core" & k Z u \ + "storage"(P& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts + "manipulator"&&'L +23 "core" ' +2 "storage"(L% +4 "core" %-   P\ +2 ."downElevator"SE.seek :down +3 "storage"(='w +99 (H% +3 "core" %#R \ |TZ + "manipulator"&[% +4 "core" %O j l \ W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ Z +88 "core" ' +59 ' +2 ."downElevator"SE.coast +2 "storage"(5 +6 .tSC.coast +2 "storage"(6 +3 #tShuffling two pucks from tube 3 to 4 of [1..7] +4 #Loading generic puck from tube 3 into Collection Clamp + "collection"'J& +9 "core" &\ { +2 "manipulator"&F% +8 "core" %\ y l l \ d +3 "storage"(% +7 "core" %  ' \ +4 "storage"(E. +6 "core" . +4 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 .tSC.seek 3 +2 "storage"(?( +6 "core" ( +4 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (^& +8 "core" &   5\  +2 "manipulator"&Y& +8 "core" & l k \ +2 .tElbow.seek 3 +4 "manipulator"&d( +8 "core" ( +4 "manipulator"& & +6 "core" & m m  +2 "storage"(V& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts + "manipulator"&X'L +100 "core" ' +2 "storage"(e& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g' +277 "core" ' +2 "storage"(O- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" & Z\ ~ +2 "manipulator"&S& +3 "core" & k l  +2 .tElbow.seek 3 + "manipulator"&a( +5 "core" ( +2 "manipulator"&M& +4 "core" & i [ j  + "storage"(N& +3 "core" & \ ~ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&*'X +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&!/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(\\'w +8 "core" & r ~ *  +2 "manipulator"&b% +3 "core" % W m l +2 .tForearm.seek :retract +2 "manipulator"&s'\ Z +93 "core" ' +3 .tElbow.seek CC +2 "manipulator"&m(S +147 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +11 "core" ( +2 "manipulator"&_& +4 "core" &\\ { 3 !u + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &\\ p  6 !u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v' +98 "core" ' +4 "manipulator"&<& +8 "core" &\\ z q 1 !u +3 "manipulator"&i% +7 "core" % 6 +4 "collection"'k& +8 "core" &\ z +4 "collection"'U& +8 "core" &\ y +4 .tCC.seek :closed +6 "collection"'(Y +8 "core" &\ y +2 &\ z +6 &51|\ s*z +9 &4c\ s? +9 &\ sO +10 &s_\ uO +11 &6`\ tN +8 & `\ uO +9 &"c\ uO +9 &${a\ uO +9 &&=c\ uO +9 &'a\ uO +9 &)`\ uN +10 &+`\ uN +9 &-F`\ uN +10 &/_\ uN +9 &0_\ uN +9 &2b\ uO +10 &4N^\ uN +9 &6`\ uN +9 &7c\ uO +10 &9_\ uO +9 &;U`\ uO +10 &=`\ tN +9 &>c\ uO +9 &@^\ uO +10 &B]^\ uO +9 &D`\ uO +9 &E^\ uO +10 &G`\ uO +9 &Ibk\ uP +10 &K#l\ tP +9 &Lz\ tQ +9 &N\ sR +10 &PV\ qW +9 &R\ pX +10 &S\ pY +10 &U~\ pZ +9 &WV\ pY +10 &Xy\ r0 +9 &Y$\ s@ +7 ( +4 &Y9\ v; +2 "collection"'U& +8 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.97 +2 .Hand.open +3 "manipulator"&w1 +103 "core" &Y9\ v; +51 1 + "manipulator"&t% +4 "core" % * q Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ Z +93 "core" ' +2 .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%T& +4 "core" &5\ +2 "manipulator"& % +4 "core" %\ R l k  + "storage"(% +4 "core" % \ } + "storage"(p. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(|( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (x& +3 "core" & \ ~ +2 "manipulator"&& +3 "core" &] l l !t +2 "manipulator"&% +4 "core" %\ R l l  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&j( +149 "core" ( +4 "manipulator"&h& +8 "core" & k k H \ +2 "storage"({& +7 "core" & t\ ~ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 800 counts +4 "manipulator"&y'L +94 "core" ' +2 "storage"(q& +4 "core" & \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ ' +277 "core" ' +2 "storage"(z- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ { + "manipulator"&l& +4 "core" & o o \ + .tElbow.seek 3 +2 "manipulator"&c( +3 "core" ( + "manipulator"&n& +4 "core" & j k \ + "storage"( & +4 "core" & \ | +2 .tForearm.seek 3 + 300 counts + "manipulator"&'X +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&B/ +62 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&]& +4 "storage"('w +16 "core" & r ' \ +2 "manipulator"&% +8 "core" % T r } . +4 .tForearm.seek :retract +2 "manipulator"&'\ Z +93 "core" ' +4 .tElbow.seek PC +2 "manipulator"&~( +151 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +96 "core" ( +2 "manipulator"&'& +4 "core" & { o K  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & p n   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&o's +97 "core" ' +4 "manipulator"&Q& +8 "core" & t $  +3 "manipulator"&% +7 "core" %z + X +4 "processing"%r& +8 "core" &&\ +4 "processing"%f& +8 "core" &.\ +6 .tPC.seek :closed +3 "processing"%}(Yy +7 "core" &#\ +2 &*\  +7 &1(\ *y +10 &b,\ ? +9 &<(\ P +8 &k&\ O +10 &h%\ O +9 &!j'\ N +10 &#Ei#\ O +9 &%i/\ O +9 &&k*\ O +10 &(f)\ O +9 &*Ni&\ O +9 &,h'\ N +10 &-j&\ O +9 &/j(\ O +10 &1Vj'\ O +9 &3h*\ O +9 &4e'\ O +10 &6f*\ O +9 &8^h'\ O +9 &: i(\ O +10 &;f'\ O +9 &=c(\ N +10 &?ff'\ O +9 &A'm"\ O +9 &Bg,\ O +10 &Di(\ O +9 &Fmf(\ O +9 &H/k&\ O +10 &Ip'\ O +9 &Kz$\ P +10 &Mn'\ Q +9 &O)(\ T +9 &P'\ U +10 &R$\ U +12 &Tj)\ U +7 &V+(\ V +10 &W&\ C +9 &YE}(\ Y +10 &YY:+\ 1 +4 ( +4 "processing"%f& +6 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.55 +2 .Hand.open +2 "manipulator"&1 +6 "core" &YY)'\ 1 +56 1 + "manipulator"&)% +4 "core" % {   W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ Z +103 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%& +4 "core" &YY)\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&-% +3 "core" %\ A i k b  +2 "storage"("% +4 "core" % !\ } + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"(`(, +186 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (,& +4 "core" &, \ { + "manipulator"&>& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]K-0-\ b +3 "core" & l k  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"& ( +3 "storage"(' +3 "core" ( +2 "manipulator"&& +3 "core" & r   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  l j  +3 .tForearm.seek PC + "manipulator"& 's +96 "core" ' +6 .tPC.seek :sealed +2 "processing"%(Ni +99 "core" ( +4 .tHand.close +2 "manipulator"&/ +38 "core" ' +3 "storage"(5- +4 "core" -' + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +3 "core" / +2 .tPC.seek :open +2 "storage"(D' + "processing"%8(u +26 "core" ' +294 ( +3 "storage"(& +8 "core" &, \ z +3 "manipulator"&I& +7 "core" &  q E  +3 "manipulator"&% +7 "core" % L 7 D +3 .tForearm.seek :retract +4 "manipulator"&7'\ Z +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(H +242 "core" ( +4 "manipulator"&& +8 "core" &> O  +2 "storage"(3& +8 "core" &, \ z +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 800 counts +4 "manipulator"&#'e +89 "core" ' +2 .tHand.open +2 "manipulator"&11 +53 "core" 1 +2 "storage"(:- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"(9'l +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.78 Pucks below Top Plate +2 "storage"(%'t +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(C- +4 "core" -'t + "storage"(@& +4 "core" &, J J \ n + "manipulator"&A& +4 "core" &> m m  + .tElbow.seek 4 +2 "manipulator"&0(H +3 "core" ( + "manipulator"&6& +4 "core" &> i k y  + "storage"(P& +4 "core" &, K K \ n +2 .tForearm.seek 4 + 800 counts + "manipulator"&L'e +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.07 Pucks below Top Plate +2 "storage"(G' +57 "core" ' +2 "manipulator"&H& +4 "core" &> l k  + "storage"([& +4 "core" &, \ \ | + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&;'E +33 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(J' +22 "core" ' +2 "manipulator"&(% +4 "core" %U  + "storage"(F& +4 "core" &, !\ y +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&4'΁ +20 "core" ' +2 "manipulator"&& +4 "core" &? k g V  +2 "storage"(E& +3 "core" &, \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 800 counts + "manipulator"&^'e +23 "core" ' +3 "storage"(Y% +10 "core" % >\ | +5 ."downElevator"SE.seek :down +6 "storage"( 'w +99 (V% +6 "core" %T ~ v \ xTZ +4 "manipulator"&&% +8 "core" %h l m \ ] +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&e'\ Z +90 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (=& +4 "core" &, 3\ } +2 "collection"'& +3 "core" &Y9\ x; +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&R% +3 "core" %\ o l k . +2 "storage"(K% +4 "core" % \ ~ + "storage"(O. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"(2(, +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (S& +3 "core" &, \ ~ +2 "manipulator"&M& +3 "core" &? m l y  +47 .tElbow.seek 4 +2 "manipulator"&N(H +3 "core" ( +2 "manipulator"&!& +3 "core" &? k h V  +2 "storage"(Z& +4 "core" &, \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts + "manipulator"&b'e +97 "core" ' +4 "storage"(d& +8 "core" &, \  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(X' +292 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&u& +3 "core" &? l m  +2 "storage"(g& +3 "core" &, \ { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&*'E +37 "core" ' +4 .tElbow.hold +2 "manipulator"&<, +6 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"(i- +6 "core" -' +4 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(a'# +30 "core" ' +5 "manipulator"&k% +4 "core" %X  +2 "storage"(\\& +4 "core" &, \ z + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&s'΄ +12 "core" ' +2 "manipulator"&.& +4 "core" &? k i w  + "storage"(w& +4 "core" &, \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&t'e +24 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(U'% +40 "core" ' +2 "manipulator"&T& +4 "core" &? k k  + "manipulator"& % +4 "core" %U l l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +87 "core" ' +2 .tElbow.seek CC + "manipulator"&p(S +155 "core" ( +3 "manipulator"&x& +4 "core" &V q  "y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &V k l r "y +2 .tForearm.seek CC + "manipulator"&' +101 "core" ' +3 .tCC.seek :sealed +3 "collection"'v(P +89 "core" ( +4 .tHand.close +2 "manipulator"&h/ +58 "core" / +4 .tCC.seek :open +2 "collection"'{( +330 "core" ( +4 "storage"(?& +8 "core" &, \ ~ +2 "storage"(q& +8 "core" &, \ ~ +2 "manipulator"&m& +8 "core" &X  !w +2 "manipulator"&+% +8 "core" % 1 % +3 .tForearm.seek :retract +3 "manipulator"&z'\ Z +110 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(H +151 "core" ( +2 "manipulator"&l& +4 "core" &N { `  + "storage"(n& +4 "core" &, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"& 'E +109 "core" ' +4 .tElbow.hold +2 "manipulator"&B, +6 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&]1 +59 "core" 1 +3 "manipulator"&% +4 "core" % S " + "storage"(j& +4 "core" &, \ | + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&y' +19 "core" ' +2 "manipulator"&\ & +4 "core" &O l k  + "storage"(& +4 "core" &, (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&''e +22 "core" ' +2 "storage"(% +4 "core" %. \ ~ +2 ."downElevator"SE.seek :down +3 "storage"(c'w +99 (Q% +3 "core" %BT I\ |TZ +2 "manipulator"&% +4 "core" %s k k 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ Z +92 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 4 to 5 of [1..7] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &\ z +2 "manipulator"&% +4 "core" %\ P k l  + "storage"(W% +4 "core" %  \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"()(, +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +3 "core" &,  @\  + "manipulator"&-& +4 "core" &O m k  +2 .tElbow.seek 4 + "manipulator"&"(H +4 "core" ( + "manipulator"&f& +3 "core" &O ] i   +2 "storage"(& +4 "core" &,   m\  + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 800 counts + "manipulator"&o'e +98 "core" ' +5 "storage"(,& +9 "core" &,   \  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(>' +286 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +2 "core" &, \ ~ +2 "manipulator"&|& +4 "core" &O l b .  + .tElbow.seek 4 +2 "manipulator"&5(H +3 "core" ( + "manipulator"&& +3 "core" &O l g   +2 "storage"(~& +5 "core" &, \ ~ +4 .tForearm.seek 4 + 300 counts +2 "manipulator"&/'q +22 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +59 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&& +4 "storage"('w +16 "core" &O s   +3 "manipulator"&% +7 "core" % o ! +4 .tForearm.seek :retract +2 "manipulator"&I'\ Z +96 "core" ' +2 .tElbow.seek CC + "manipulator"&(S +142 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +12 "core" ( +2 "manipulator"& & +4 "core" &Y | ~ # "x + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Y ~  "x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3' +103 "core" ' +4 "manipulator"& & +8 "core" &Z u !w +2 "manipulator"&1% +8 "core" %  / +4 "collection"':& +8 "core" &\ x +4 "collection"'C& +7 "core" &\ y +4 .tCC.seek :closed +6 "collection"'@(Y +9 "core" &\ x + &\ x +6 &61|\ s*y +9 &4b\ s> +9 &~\ sO +10 &pa\ tO +9 &1b\ tO +10 & ]\ tO +9 &"_\ tO +9 &$x\\\ uO +10 &&;b\ tN +9 &'_\ tO +9 &)c\ tN +10 &+_\ uN +9 &-D_\ tN +10 &/e\ tN +9 &0`\ tO +9 &2_\ tN +10 &4K]\ uN +9 &6 c\ tN +9 &7d\ tN +10 &9b\ tO +9 &;R`\ tO +10 &=\\\ uN +9 &>]\ uO +9 &@`\ tO +10 &BZ_\ tO +9 &D`\ tO +9 &E`\ tO +10 &G_\ tO +9 &Ibg\ tO +10 &Kn\ tP +9 &Lx\ sQ +9 &N~\ sR +10 &PS~\ qW +9 &R\ pX +9 &S\ pY +10 &U\ pZ +9 &WS~\ pY +10 &Xy\ q2 +9 &Y%}\ r ^ +9 &YZ\ uG +2 ( + "collection"'C& +3 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.97 + .Hand.open + "manipulator"&A1 +64 "core" 1 +2 "manipulator"&6% +4 "core" %  z x , / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&P'\ Z +98 "core" ' +4 .tSC.coast + "storage"(6 +5 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%7& +8 "core" &+\ +4 "manipulator"&H% +6 "core" %\ ]  m ?  +4 "storage"([% +8 "core" % ;\ } +2 "storage"((. +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 4 +2 "storage"(F(, +6 "core" ( +2 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (D& +5 "core" &, \ } +4 "manipulator"&& +8 "core" &Z a i !w +2 "manipulator"&E% +8 "core" %\ ] l b v  +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +4 "manipulator"&9(H +152 "core" ( +2 "manipulator"&Y& +4 "core" &P j k  + "storage"(& +4 "core" &, \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +40 "manipulator"&#'e +99 "core" ' +4 "storage"(%& +8 "core" &, '\ ~ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(V' +287 "core" ' +2 "storage"(&- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (L& +3 "core" &, \ { + "manipulator"&0& +4 "core" &P k l  +2 .tElbow.seek 4 + "manipulator"&G(H +3 "core" ( +2 "manipulator"&;& +4 "core" &P q Z  + "storage"(4& +4 "core" &, \ { +2 .tForearm.seek 4 + 300 counts + "manipulator"&='q +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +6 "storage"(K'w +10 "core" &P m m  +4 "manipulator"&J% +8 "core" % k b e x +4 .tForearm.seek :retract +2 "manipulator"&O'\ Z +103 "core" ' +2 .tElbow.seek PC + "manipulator"&S( +146 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +96 "core" ( +2 "manipulator"&M& +5 "core" & a k F  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" & k l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z's +89 "core" ' +2 "manipulator"&^& +4 "core" & g   + "manipulator"&d% +4 "core" %| } z J +2 "processing"% & +3 "core" &*\ +2 "processing"%`& +5 "core" &:\ +2 .tPC.seek :closed + "processing"%$(Yy +4 "core" &<\  +9 &05\ *y +9 &b&\ ? +10 &80\ O +9 &l$\ O +11 &n-\ N +9 &!j1\ N +9 &#@m1\ O +10 &%f2\ N +9 &&j.\ O +9 &(i0\ O +10 &*Jm4\ N +9 &, i2\ N +10 &-h:\ N +9 &/j3\ O +9 &1Qf1\ O +10 &3g2\ O +9 &4j0\ N +9 &6g'\ N +10 &8Xk'\ O +9 &:f*\ O +10 &;k2\ O +9 &=f0\ N +9 &?bf4\ N +10 &A#j2\ O +9 &Bj/\ O +9 &Dk.\ O +10 &Fhe/\ O +9 &H)k1\ O +10 &Io1\ P +9 &Kx*\ Q +8 &Mj~.\ Q +10 &O$0\ T +9 &P(\ U +9 &R0\ U +10 &Td+\ V +9 &V'/\ U +10 &W-\ D +9 &YD~.\ ` +9 &YX41\ 1 +5 ( +2 "processing"%`& +3 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&e1 +3 "core" &YX)3\ 1 +60 1 + "manipulator"&_% +5 "core" % ϑ q m y + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ Z +95 "core" ' +4 .tSC.coast + "storage"(6 +5 "processing"%g& +8 "core" &YX)5\ 1 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&i% +7 "core" %\  l k D +4 "storage"(k% +6 "core" % \ | +4 "storage"(\\. +4 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 5 +3 "storage"(.(< +186 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (w& +3 "core" &<! \ z +2 "manipulator"&T& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]K-0-\ b +3 ."raiseStack"SE.seek :beamBreak + "storage"( ' +3 "core" & l k  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&b( +2 "core" ( +2 "manipulator"&N& +3 "core" & m g v  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +2 "core" & i _ y  +2 .tForearm.seek PC +2 "manipulator"&*'s +99 "core" ' +3 .tPC.seek :sealed + "processing"%s(Ni +95 "core" ( +3 .tHand.close + "manipulator"&a/ +35 "core" ' +2 "storage"(x- +3 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(' +16 "core" / +2 .tPC.seek :open + "processing"%t(u +8 "core" ' +309 ( + "storage"(<& +4 "core" &< \ y +2 "manipulator"&h& +3 "core" & w %  +2 "manipulator"&% +3 "core" % 1 } R 7 +3 .tForearm.seek :retract + "manipulator"&'\ Z +99 "core" ' +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +3 "manipulator"&v( +253 "core" ( +2 "manipulator"&?& +4 "core" & k k 3  + "storage"(q& +4 "core" &< \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts + "manipulator"&m'ϑ +93 "core" ' +2 .tHand.open + "manipulator"&+1 +57 "core" 1 +6 "storage"(l- +6 "core" -' +4 .tSE.seek -0.19 Pucks below Top Plate +4 "storage"(n'l +25 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.78 Pucks below Top Plate +4 "storage"('t +51 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(p- +6 "core" -'t +4 "storage"(]& +8 "core" &< J J \ m +2 "manipulator"&& +8 "core" & l j {  +2 .tElbow.seek 5 +4 "manipulator"&j( +20 "core" ( +2 "manipulator"&\ & +4 "core" & i k >  + "storage"(& +4 "core" &< J J \ m +2 .tForearm.seek 5 + 800 counts + "manipulator"&'ϑ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.07 Pucks below Top Plate + "storage"(z' +56 "core" ' +2 "manipulator"&Q& +4 "core" & l k  + "storage"(& +4 "core" &<! \ | + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'q +32 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(' +21 "core" ' +2 "manipulator"&y% +4 "core" %̂  x + "storage"(& +4 "core" &< r r\ w +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&W'ͮ +18 "core" ' +2 "manipulator"&& +4 "core" &  ] i .  +2 "storage"(U& +4 "core" &< \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&'ϑ +21 "core" ' +2 "storage"(-% +4 "core" % \ | +2 ."downElevator"SE.seek :down +4 "storage"(f'w +99 (% +3 "core" %P t B\ xTZ + "manipulator"&'% +4 "core" %ϋ k i { M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ Z +90 "core" ' +67 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (c& +4 "core" &< \ } +2 "collection"'2& +3 "core" &YY~\ vG +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&B% +3 "core" %\ ^ ^ ^ 9  +2 "storage"(r% +4 "core" %{ \ ~ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"((< +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (|& +2 "core" &< \ } +2 "manipulator"&& +4 "core" &  l k  + .tElbow.seek 5 +2 "manipulator"&~( +4 "core" ( + "manipulator"&}& +4 "core" &  ` h  + "storage"(& +4 "core" &< \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&'ϑ +105 "core" ' +2 "storage"("& +4 "core" &< \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o' +287 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  i l /  +2 "storage"(>& +3 "core" &< \ { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&/'q +37 "core" ' +2 .tElbow.hold + "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +48 "manipulator"&$&.,(\ #b +4 "storage"(1- +2 "core" -' +3 .tSE.seek 0.15 Pucks below Top Plate + "storage"(5' +23 "core" ' +2 "manipulator"&:% +4 "core" %́  + "storage"(& +4 "core" &< \ z + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&I'ͭ +12 "core" ' +2 "manipulator"&{& +4 "core" &  k i '  + "storage"(A& +4 "core" &< \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"&6'ϑ +23 "core" ' +4 .tSE.seek 1.15 Pucks below Top Plate +4 "storage"(7' +43 "core" ' +4 "manipulator"&H& +8 "core" &  ] ^ [  +3 "manipulator"&C% +7 "core" %ϒ e e ) +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&['\ Z +94 "core" ' +2 .tElbow.seek CC + "manipulator"&((S +158 "core" ( +2 "manipulator"&D& +4 "core" &Q i f N # + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Q k k h # +2 .tForearm.seek CC +2 "manipulator"&E' +92 "core" ' +3 .tCC.seek :sealed + "collection"'3(P +93 "core" ( +2 .tHand.close + "manipulator"&Y/ +58 "core" / +2 .tCC.seek :open + "collection"'( +330 "core" ( +2 "storage"()& +4 "core" &< \ } + "storage"(& +4 "core" &< \ | + "manipulator"&%& +3 "core" &U # +2 "manipulator"&P% +3 "core" % ! ~  h +2 .tForearm.seek :retract + "manipulator"&&'\ Z +105 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +3 "manipulator"&L( +160 "core" ( +2 "manipulator"&0& +4 "core" &  n p ,  + "storage"(;& +4 "core" &< \ ~ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&4'q +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&R1 +61 "core" 1 +6 "manipulator"&J% +8 "core" % ̀ U z +2 "storage"(9& +8 "core" &< \ { +2 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 5 + 315 counts +2 "manipulator"&#'ͬ +18 "core" ' +4 "manipulator"&V& +8 "core" & k m O  +2 "storage"(=& +8 "core" &< \ ~ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 800 counts +2 "manipulator"&M'ϑ +16 "core" ' +4 "storage"(!% +8 "core" %' \  +4 ."downElevator"SE.seek :down +6 "storage"(G'w +97 (^% +3 "core" %R 0\ |TX + "manipulator"&d% +4 "core" %ϋ h l 7 # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ Z +93 "core" ' +57 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 5 to 6 of [1..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'K& +5 "core" &\ z + "manipulator"&O% +4 "core" %\ i l k  + "storage"(8% +4 "core" %{  \ + "storage"(e. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(_(< +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (g& +3 "core" &<  q 3\  + "manipulator"&i& +4 "core" & k l  +2 .tElbow.seek 5 + "manipulator"&`( +4 "core" ( + "manipulator"&k& +3 "core" & a i :  +2 "storage"(\\& +4 "core" &<   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts + "manipulator"&Z'ϑ +100 "core" ' +2 "storage"(w& +4 "core" &< 1 0\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T' +277 "core" ' +2 "storage"(N- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (X& +2 "core" &< d\ } +2 "manipulator"&F& +3 "core" & b j  +2 .tElbow.seek 5 + "manipulator"&x( +3 "core" ( +2 "manipulator"&a& +3 "core" & l l U  +2 "storage"(S& +3 "core" &< \ ~ +2 .tForearm.seek 5 + 300 counts + "manipulator"&u'͝ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&$/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(s'w +7 "core" & l j }  + "manipulator"&<% +4 "core" % ͕ g p  +2 .tForearm.seek :retract + "manipulator"&h'\ Z +91 "core" ' +4 .tElbow.seek CC +2 "manipulator"&(S +159 "core" ( +2 "manipulator"&*& +4 "core" ' + &\\ 7 !t +2 ."downElevator"SE.coast +2 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +3 &?& +2 "core" &\\  !t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&q' +95 "core" ' +2 "manipulator"&b& +4 "core" &\\ G !t + "manipulator"&+% +4 "core" % . D +2 "collection"'l& +4 "core" &\ x +2 "collection"'p& +6 "core" &\ y +2 .tCC.seek :closed + "collection"'](Y +5 "core" &\ x +7 &4\ w$e +10 &U\ s8 +9 &)\ sL +9 &b\ tO +10 &b\ tO +9 & f_\ tO +11 &")^\ uN +9 &#]\ tN +9 &%`\ tO +10 &'p_\ tN +9 &)0`\ tO +9 &*`\ tN +10 &,]\ tN +9 &.v`\ tO +10 &09`\ tN +9 &1`\ tO +9 &3_\ tN +10 &5~_\ tO +9 &7B\\\ tN +9 &9b\ tN +10 &:c\ tO +9 &<_\ tO +10 &>H_\ tO +9 &@\ _\ tO +9 &A_\ tN +10 &Cb\ tN +9 &EQb\ tN +9 &Gc\ tO +10 &Hc\ tO +8 &Ji\ tO +10 &LSr\ sP +9 &N|\ sR +9 &O\ rU +10 &Q~\ pX +9 &SC\ pX +10 &U\ pY +9 &V\ pZ +9 &X\ oG +10 &Y}6~\ q't +9 &YB\ u= +2 ( + "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 4/25 samples, on/off torque 1.98 + .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % \ o m  C + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\ '\ Z +95 "core" ' +2 .tSC.coast "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &B\ +2 "manipulator"&Q% +3 "core" %\ ] l h w +2 "storage"(% +3 "core" % \ ~ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"(y(< +5 "core" ( +2 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (& +9 "core" &< d\ } +3 "manipulator"&n& +8 "core" &] k l !s +2 "manipulator"&% +8 "core" %\ ] i k w +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +2 "manipulator"&U( +149 "core" ( +2 "manipulator"&-& +51 "core" & k m  + "storage"(v& +4 "core" &< W\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"&m'ϑ +98 "core" ' +2 "storage"(& +4 "core" &< \ } + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(' +274 "core" ' +4 "storage"('- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (& +4 "core" &< \ { +4 "manipulator"&j& +6 "core" & i k  +4 .tElbow.seek 5 +2 "manipulator"&z( +6 "core" ( +3 "manipulator"&& +8 "core" & k b [  +4 "storage"(W& +6 "core" &< \ { +4 .tForearm.seek 5 + 300 counts +2 "manipulator"&c'͝ +15 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&2/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(r'w +8 "core" & | k u  + "manipulator"&% +4 "core" % ͧ o X +50 .tForearm.seek :retract + "manipulator"&'\ Z +96 "core" ' +2 .tElbow.seek PC + "manipulator"&|( +115 "core" ' +3 ."downElevator"SE.coast +3 "storage"(5 +126 "core" ( +2 "manipulator"&& +5 "core" &  l l z  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &  k k p  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&'s +97 "core" ' +2 "manipulator"&& +4 "core" &  l l  + "manipulator"&"% +4 "core" %| o n t U +2 "processing"%f& +3 "core" &S\ +2 "processing"%.& +5 "core" &S\ +2 .tPC.seek :closed +2 "processing"% (Yy +4 "core" &C\  +9 &/G\ *y +9 &bJ\ ? +9 &HE\ O +10 &\ l?\ O +9 &hC\ N +10 &!jA\ N +9 &#PmG\ O +10 &%j8\ O +9 &&m2\ N +9 &(f/\ N +10 &*Yk2\ N +9 &,m8\ O +10 &-j3\ O +10 &/j.\ N +9 &1`l7\ O +10 &3"j2\ O +9 &4e0\ N +9 &6f.\ O +10 &8hk5\ O +9 &:*j3\ O +8 &;k3\ O +10 &=i2\ O +9 &?pi4\ O +10 &A2k2\ O +9 &Bi7\ N +9 &Dj2\ N +10 &Fym2\ N +9 &H:k7\ O +9 &Iq5\ O +10 &K}7\ P +9 &My2\ Q +10 &O41\ T +9 &P6\ U +9 &R3\ T +10 &Tw4\ T +9 &V96\ T +9 &W1\ B +10 &Y 9p1\ %l +9 &Ya13\ * +5 ( +2 "processing"%.& +3 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&,1 +3 "core" &Ya1\ * +50 1 + "manipulator"& % +5 "core" % | x x D U + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ Z +101 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%>& +4 "core" &YaB\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&1% +3 "core" %\ M k l +2 "storage"(:% +3 "core" % \ } +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"({(L2 +184 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +5 (A& +2 "manipulator"&H& +16 "core" &L0 \ { +2 &  j h  +6 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +8 "storage"(#]K-0-\ b +4 "manipulator"&$&.,(\ #b +8 .tElbow.seek PC +2 "manipulator"&C( +6 ."raiseStack"SE.seek :beamBreak +4 "storage"(' +4 "core" ( +4 "manipulator"&~& +8 "core" &  l k  +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &o& +6 "core" &  k n  +4 .tForearm.seek PC +2 "manipulator"&/'s +100 "core" ' +3 .tPC.seek :sealed + "processing"%I(Ni +97 "core" ( +2 .tHand.close + "manipulator"&5/ +22 "core" ' +2 "storage"(D- +3 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(' +17 "core" / +2 .tPC.seek :open + "processing"%6(u +8 "core" ' +313 ( +3 "storage"( & +3 "core" &L1 \ z +2 "manipulator"&Y& +3 "core" &   i X  +2 "manipulator"&[% +4 "core" % 4 ; 7 + .tForearm.seek :retract +2 "manipulator"&@'\ Z +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&3(! +245 "core" ( +2 "manipulator"&)& +4 "core" & p a  + "storage"(& +4 "core" &L1 \ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&%'c +90 "core" ' +2 .tHand.open + "manipulator"&P1 +60 "core" 1 +2 "storage"(0- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"(;'l +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"(E't +51 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +3 "core" -'t +2 "storage"(R& +3 "core" &L1 L M z\ n +2 "manipulator"&J& +3 "core" & l o  +2 .tElbow.seek 6 + "manipulator"&9(! +4 "core" ( + "manipulator"&V& +4 "core" & k l #  + "storage"(=& +4 "core" &L1 L L \ n +2 .tForearm.seek 6 + 800 counts + "manipulator"&!'c +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.07 Pucks below Top Plate +3 "storage"(&' +57 "core" ' +4 "manipulator"&^& +8 "core" & h a B  +2 "storage"(L& +8 "core" &L1 2\ | +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +2 "manipulator"&d'C +41 "core" ' +4 .tElbow.hold +2 "manipulator"&4, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +5 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(#' +21 "core" ' +4 "manipulator"&K% +8 "core" %I  +2 "storage"(O& +8 "core" &L1 \ y +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 306 counts + "manipulator"&8'u +12 "core" ' +2 "manipulator"&e& +4 "core" & j h %  + "storage"(7& +4 "core" &L1 \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&g'c +25 "core" ' +2 "storage"(i% +4 "core" % \ | +2 ."downElevator"SE.seek :down +3 "storage"(k'w +99 (\\% +4 "core" %eR "\ yTZ + "manipulator"&M% +4 "core" %` k `   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ Z +92 "core" ' +60 ' +2 ."downElevator"SE.coast +2 "storage"(5 +6 .tSC.coast + "storage"(6 +5 (G& +8 "core" &L1 \ ~ +2 "collection"'& +7 "core" &YD}\ w= +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +8 "core" %\ s h _ t +4 "storage"( % +8 "core" % f\ ~ +2 "storage"(N. +6 "core" . +2 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 6 +2 "storage"(X(L2 +6 "core" ( +3 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (F& +5 "core" &L1 0\ ~ +2 "manipulator"&a& +4 "core" & k a 1  + .tElbow.seek 6 +2 "manipulator"&S(! +3 "core" ( + "manipulator"&$& +4 "core" & h m   +2 "storage"( & +3 "core" &L1 M\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&<'c +101 "core" ' +2 "storage"(`& +4 "core" &L1 \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z' +273 "core" ' +2 "storage"(*- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +2 "core" & b ] L  +2 "storage"(T& +3 "core" &L1 \ { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&u'C +39 "core" ' +2 .tElbow.hold + "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(+- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(l' +26 "core" ' +2 "manipulator"&x% +4 "core" %J  + "storage"(s& +3 "core" &L1 \ z +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 307 counts + "manipulator"&h'v +12 "core" ' +2 "manipulator"&& +4 "core" & ^ h R  + "storage"(& +4 "core" &L1 4\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&'c +25 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(' +38 "core" ' +2 "manipulator"&Q& +4 "core" & m g }  + "manipulator"&% +4 "core" %a h ^ F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +92 "core" ' +2 .tElbow.seek CC +49 "manipulator"&p(S +155 "core" ( +4 "manipulator"&& +8 "core" &W ~ o ! "| +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &n& +6 "core" &W r l  "| +3 .tForearm.seek CC +3 "manipulator"&' +93 "core" ' +3 .tCC.seek :sealed + "collection"'q(P +50 "Can"r\ ^== +44 "core" ( + .tHand.close +2 "manipulator"&-/ +58 "core" / +2 .tCC.seek :open + "collection"'v( +330 "core" ( +2 "storage"(_& +4 "core" &L1 \  + "storage"(& +4 "core" &L1 `\ ~ + "manipulator"&& +4 "core" &X ~  "{ + "manipulator"&\ % +4 "core" % $ p R g +2 .tForearm.seek :retract + "manipulator"&''\ Z +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&(! +158 "core" ( +2 "manipulator"&j& +4 "core" &( { p  + "storage"(& +4 "core" &L1 2\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&W'C +109 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&B1 +56 "core" 1 +2 "manipulator"&% +4 "core" % W  +2 "storage"(U& +4 "core" &L1 \ } + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&m'΃ +12 "core" ' +3 "manipulator"&& +4 "core" &* k l ^  +2 "storage"(c& +3 "core" &L1  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts + "manipulator"&'c +19 "core" ' +2 "storage"(}% +4 "core" %$  #\ +2 ."downElevator"SE.seek :down +3 "storage"(z'w +99 (% +3 "core" %zQ \ |TX +2 "manipulator"&"% +3 "core" %[ k k G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ Z +96 "core" ' +47 ' +2 ."downElevator"SE.coast +2 "storage"(5 +6 .tSC.coast +2 "storage"(6 +4 #tShuffling two pucks from tube 6 to 7 of [1..7] +3 #Loading generic puck from tube 6 into Collection Clamp + "collection"'r& +9 "core" &\ z +3 "manipulator"&% +8 "core" %\ N l k +4 "storage"(t% +6 "core" % . $ #\ +4 "storage"(,. +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 6 +2 "storage"( (L2 +6 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +5 (>& +4 "core" &L1  !\  +4 "manipulator"&1& +8 "core" &* j k  +2 .tElbow.seek 6 +4 "manipulator"&:(! +4 "core" ( + "manipulator"&& +4 "core" &* j l {  + "storage"(.& +4 "core" &L1   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&'c +95 "core" ' +2 "storage"(H& +5 "core" &L1   \  + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A' +286 "core" ' +2 "storage"(~- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (y& +2 "core" &L1 t\ } +2 "manipulator"&o& +3 "core" &* k l |  +2 .tElbow.seek 6 + "manipulator"&D(! +4 "core" ( +2 "manipulator"&|& +4 "core" &* j g c  + "storage"(5& +4 "core" &L1 J\ ~ + .tForearm.seek 6 + 300 counts +2 "manipulator"&'o +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(I'w +7 "core" &* i j }  +2 "manipulator"& % +3 "core" % v i i +2 .tForearm.seek :retract +2 "manipulator"&Y'\ Z +95 "core" ' +2 .tElbow.seek CC + "manipulator"&[(S +156 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&/& +4 "core" &V   !w + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &V G !w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&' +99 "core" ' +2 "manipulator"&C& +4 "core" &V " !w + "manipulator"&P% +4 "core" % 0 B +2 "collection"'0& +3 "core" &\ y +2 "collection"'(& +5 "core" &\ x +2 .tCC.seek :closed + "collection"'R(Y +6 "core" &\ x +9 &80{\ t+z +10 &7b\ s> +9 &~\ sN +10 &v]\ tN +9 &7a\ uN +9 & \\\ uN +10 &"_\ tO +9 &$~]\ uN +9 &&?_\ tN +10 &(\\\ uN +9 &)`\ tN +10 &+`\ tN +9 &-G]\ uN +9 &/\ \\\ uN +10 &0`\ tN +9 &2Z\ uN +9 &4P]\ uN +10 &6]\ uN +9 &7_\ tN +10 &9]\ tN +9 &;Wa\ tN +9 &=]\ tN +10 &>_\ tO +9 &@_\ tN +9 &B__\ tN +11 &D"\\\ tN +10 &E_\ tN +9 &G`\ tO +9 &Ifh\ tO +9 &K%l\ sP +10 &Lx\ sQ +9 &N}\ sR +9 &PY\ pV +10 &R\ oX +9 &S\ oX +10 &U~\ oZ +9 &WV\ pZ +9 &Xz\ q. +10 &Y)\ rG +7 ( +4 &YF\ u< +2 "collection"'(& +8 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 2.00 +3 .Hand.open +2 "manipulator"&J1 +7 "core" &YG\ u< +50 1 +2 "manipulator"&V% +8 "core" %  r Z A +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&='\ Z +99 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%@& +4 "core" &Y\ +2 "manipulator"&^% +3 "core" %\  k l L +2 "storage"(L% +4 "core" % \ ~ + "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 6 + "storage"(;(L2 +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (K& +2 "core" &L1 v\ | +2 "manipulator"&O& +4 "core" &W k a s !v + "manipulator"&e% +4 "core" %\  l i d L + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&7(! +157 "core" ( +4 "manipulator"&3& +8 "core" &* l l Q  +2 "storage"(%& +8 "core" &L1 \ ~ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 800 counts +3 "manipulator"&i'c +93 "core" ' +2 "storage"(E& +4 "core" &L1 \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\' +287 "core" ' +4 "storage"(M- +6 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (!& +3 "core" &L1 \ { +3 "manipulator"&9& +3 "core" &* b ^ H  +2 .tElbow.seek 6 + "manipulator"&&(! +3 "core" ( + "manipulator"&d& +4 "core" &* k g R  + "storage"(8& +4 "core" &L1 \ { +2 .tForearm.seek 6 + 300 counts + "manipulator"&G'o +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"('w +7 "core" &* ~ s  +2 "manipulator"& % +4 "core" % u s ~  +2 .tForearm.seek :retract + "manipulator"&N'\ Z +91 "core" ' +2 .tElbow.seek PC + "manipulator"&F( +178 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +62 "core" ( +2 "manipulator"&a& +4 "core" &  T  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &  n l `  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& 's +95 "core" ' +5 "manipulator"&g& +8 "core" &  b i <  +3 "manipulator"&`% +7 "core" %m k j O +4 "processing"%k& +8 "core" &K\ +4 "processing"%{& +8 "core" &[\ +4 .tPC.seek :closed +6 "processing"%4(Yy +6 "core" &K\ +2 &J\  +7 &/J\ *x +10 &bI\ > +9 &<J\ O +9 &kJ\ N +10 &hI\ N +9 &!hJ\ N +9 &#CjK\ O +9 &%eK\ N +9 &&hE\ N +10 &(dJ\ N +56 &*LhI\ N +4 &,hJ\ N + &-hG\ N +3 &/jH\ N + &1Th>\ N +3 &3kC\ O + &4i>\ O +6 &6g;\ O +9 &8[j:\ O +9 &:i4\ N +10 &;k3\ N +9 &=jA\ N +10 &?cj5\ O +9 &A%j5\ O +9 &Bj2\ O +10 &Dg6\ N +9 &Flh6\ N +10 &H,m7\ O +9 &In8\ O +9 &K{2\ P +10 &Ml~8\ Q +9 &O&8\ T +10 &P7\ T +10 &R2\ T +9 &Th6\ U +9 &V)6\ U +10 &W7\ C +9 &YE{6\ Z +10 &YX92\ 1 +4 ( +6 "processing"%{& +6 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.54 +2 .Hand.open +2 "manipulator"&w1 +6 "core" &YX*0\ 1 +54 1 +4 "manipulator"&*% +9 "core" % ~ k l +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&?'\ Z +101 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%T& +4 "core" &YX*6\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&+% +4 "core" %\ [ k b +2 "storage"(x% +3 "core" % \ } + "storage"(s. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(([ +185 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +4 "core" &[ \ { + "manipulator"&Q& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]K-0-\ b +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(' +6 "core" &  k ` @  +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&<( +6 "core" ( +4 "manipulator"&S& +8 "core" &  n m `  +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &Z& +6 "core" &  k k  +4 .tForearm.seek PC +2 "manipulator"&u's +92 "core" ' +3 .tPC.seek :sealed + "processing"%h(Ni +98 "core" ( +2 .tHand.close + "manipulator"&l/ +12 "core" ' +2 "storage"(- +3 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(' +26 "core" ' +10 / +2 .tPC.seek :open + "processing"%n(u +317 "core" ( +4 "storage"(b& +8 "core" &[ \ | +2 "manipulator"&-& +9 "core" &   z  +3 "manipulator"&% +7 "core" % | r Q w +3 .tForearm.seek :retract +4 "manipulator"&]'\ Z +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&q( +249 "core" ( +4 "manipulator"&_& +8 "core" &  l n & +2 "storage"(& +8 "core" &[ v\ | +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts +4 "manipulator"&'H +89 "core" ' +4 .tHand.open +2 "manipulator"&\ 1 +62 "core" 1 +2 "storage"(j- +4 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate + "storage"('l +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"('t +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +3 "core" -'t +2 "storage"(B& +3 "core" &[   -\ l +2 "manipulator"&& +3 "core" & k h  % +2 .tElbow.seek 7 + "manipulator"&U( +4 "core" ( + "manipulator"&& +4 "core" & f j + % + "storage"(c& +4 "core" &[   V\ l +2 .tForearm.seek 7 + 800 counts + "manipulator"&}'H +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.07 Pucks below Top Plate + "storage"('' +57 "core" ' +2 "manipulator"&& +4 "core" & j j k % + "storage"("& +4 "core" &[ \ } + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&'( +33 "core" ' +4 .tElbow.hold +2 "manipulator"&W, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +4 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(r' +21 "core" ' +3 "manipulator"&m% +5 "core" %< \  + "storage"(& +4 "core" &[ \ z + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&'h +24 "core" ' +2 "manipulator"&t& +4 "core" & h k R % + "storage"(,& +4 "core" &[ \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts + "manipulator"&>'H +25 "core" ' +2 "storage"(1% +4 "core" % \ } +2 ."downElevator"SE.seek :down +4 "storage"('w +99 (.% +3 "core" %R \ yTZ + "manipulator"&% +4 "core" %M ^ ]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ Z +90 "core" ' +75 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (z& +4 "core" &[ \ ~ +2 "collection"'X& +3 "core" &YG\ w< +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&2% +4 "core" %\ c k b <  + "storage"(f% +4 "core" % \ } + "storage"(~. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(y([ +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (o& +3 "core" &[ z\ } +2 "manipulator"&|& +3 "core" & n b I % +2 .tElbow.seek 7 + "manipulator"&5( +4 "core" ( + "manipulator"& & +5 "core" & g \\ 7 % + "storage"(& +4 "core" &[ \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts + "manipulator"& 'H +90 "core" ' +4 "storage"(:& +8 "core" &[ \ ~ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(' +273 "core" ' +2 "storage"(/- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & l k % + "storage"(A& +4 "core" &[ 3\ { + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&'( +36 "core" ' +2 .tElbow.hold + "manipulator"&C, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"(P- +4 "core" -' +5 .tSE.seek 0.15 Pucks below Top Plate +3 "storage"(0' +23 "core" ' +4 "manipulator"&D% +8 "core" %7  +2 "storage"(I& +8 "core" &[ 5\ z +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 315 counts +2 "manipulator"&Y'c +20 "core" ' +4 "manipulator"&v& +8 "core" & k k D % +2 "storage"(J& +8 "core" &[ \ | +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 800 counts +2 "manipulator"&V'H +23 "core" ' +4 .tSE.seek 1.15 Pucks below Top Plate +4 "storage"(@' +39 "core" ' +3 "manipulator"&^& +4 "core" & h l K % +2 "manipulator"&(% +4 "core" %R i a V V + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&L'\ Z +86 "core" ' +2 .tElbow.seek CC + "manipulator"&(S +154 "core" ( +2 "manipulator"&K& +4 "core" &W l h I !v + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &W h k !v +2 .tForearm.seek CC + "manipulator"&e' +97 "core" ' +3 .tCC.seek :sealed + "collection"'(P +94 "core" ( +2 .tHand.close + "manipulator"&3/ +55 "core" / +2 .tCC.seek :open + "collection"'%( +330 "core" ( +4 "storage"( & +7 "core" &[ L\ } +2 "storage"(E& +7 "core" &[ \ ~ +2 "manipulator"&[& +8 "core" &X  q R !u +2 "manipulator"&=% +8 "core" % \ W 9 +4 .tForearm.seek :retract +2 "manipulator"&M'\ Z +99 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +2 "manipulator"&!( +152 "core" ( +2 "manipulator"&9& +51 "core" & 1 +2 "storage"(d& +4 "core" &[ u\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 7 + "manipulator"&8'( +110 "core" ' +4 .tElbow.hold +2 "manipulator"&, +6 "core" , +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator" +53 "core" 1 +4 "manipulator"& % +8 "core" % 8 ? +4 "storage"(7& +8 "core" &[ \ } +2 .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 7 + 316 counts +3 "manipulator"&i'd +19 "core" ' +2 "manipulator"&\\& +4 "core" & k h Q + "storage"(G& +4 "core" &[  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&a'H +24 "core" ' +2 "storage"($% +4 "core" %( \  +2 ."downElevator"SE.seek :down +3 "storage"(&'w +100 (g% +3 "core" %O \ |TY + "manipulator"&`% +4 "core" %[ _ d ^ : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ Z +92 "core" ' +53 ' +2 ."downElevator"SE.coast +2 "storage"(5 +5 .tSC.coast +2 "storage"(6 +6 #tShuffling two pucks from tube 7 to 1 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +8 "core" &\ z +2 "manipulator"&N% +5 "core" %\ J\ m k  + "storage"(6% +4 "core" %   \ + "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(*([ +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (T& +2 "core" &[  \  +2 "manipulator"&{& +5 "core" & i k + .tElbow.seek 7 +2 "manipulator"&+( +7 "core" ( +2 "manipulator"&x& +4 "core" & Z h V + "storage"(s& +4 "core" &[  ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"& 'H +103 "core" ' +2 "storage"(& +4 "core" &[  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q' +277 "core" ' +2 "storage"(S- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Z& +3 "core" &[ m\ } + "manipulator"&;& +4 "core" & k k } + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&l& +4 "core" & Y g 9 + "storage"(F& +4 "core" &[ \ ~ +2 .tForearm.seek 7 + 300 counts + "manipulator"&?'T +26 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&4/ +57 "core" / +6 ."downElevator"SE.seek :down +7 "manipulator"&& + "storage"(h'w +14 "core" & o +2 "manipulator"&b% +8 "core" % Z o q 5 +4 .tForearm.seek :retract +2 "manipulator"&-'\ Z +104 "core" ' +2 .tElbow.seek CC + "manipulator"&(S +138 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +17 "core" ( +2 "manipulator"&u& +4 "core" &S z # + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &T |  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&' +94 "core" ' +4 "manipulator"&<& +8 "core" &U  "~ +3 "manipulator"&\ % +8 "core" % m . R +4 "collection"'j& +6 "core" &\ y +4 "collection"'p& +10 "core" &\ y +6 .tCC.seek :closed +2 "collection"'B(Y +8 "core" &\ y +2 &\ y +6 &:1{\ t*z +10 &:d\ s? +9 &}\ sO +10 &|\\\ tN +9 &>b\ tN +8 & `\ tO +10 &"_\ uN +9 &$_\ uN +9 &&F_\ uN +10 &( \\\ uN +9 &)`\ tN +10 &+[\ tN +9 &-N]\ tN +9 &/[\ uN +10 &0_\ uN +9 &2^\ tN +9 &4WZ\ uN +10 &6^\ uN +9 &7\\\ uN +10 &9\\\ uN +9 &;^\\\ uN +9 &= [\ uN +10 &>b\ tN +9 &@b\ tN +9 &Be^\ uO +10 &D(^\ tN +9 &E_\ uN +10 &Gb\ tN +9 &Ilf\ tO +9 &K,n\ tP +10 &Lu\ tQ +9 &N}\ sR +9 &P_\ qV +10 &R\ pX +9 &S~\ pY +10 &U\ pZ +10 &W\\\ pZ +9 &Xy\ q/ +10 &Y&~\ sB +7 ( +4 &YC~\ v< +2 "collection"'p& +8 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.98 +2 .Hand.open +2 "manipulator"&1 +8 "core" &YD\ u< +50 1 + "manipulator"&% +4 "core" %  m i N +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ Z +111 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%]& +4 "core" &Z\ +2 "manipulator"&% +3 "core" %\ @ l k ; \ k +2 "storage"("% +4 "core" % \ } + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(m([ +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +3 "core" &[ P\ | +2 "manipulator"&& +4 "core" &U i b # "~ + "manipulator"&t% +4 "core" %\ @ k j ` \ k +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&,( +150 "core" ( +2 "manipulator"&1& +4 "core" & j g C + "storage"(q& +4 "core" &[ \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&'H +94 "core" ' +2 "storage"(& +4 "core" &[ \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.' +273 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" &[ 2\ { +2 "manipulator"&U& +3 "core" & k i , +2 .tElbow.seek 7 + "manipulator"&'( +7 "core" ( +2 "manipulator"&& +4 "core" & Z h , + "storage"(& +3 "core" &[ \ { +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&z'T +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +64 "core" / +6 ."downElevator"SE.seek :down +7 "manipulator"&2& + "storage"(r'w +14 "core" & m k N +2 "manipulator"&f% +8 "core" % Y _ ^ c  +4 .tForearm.seek :retract +2 "manipulator"&~'\ Z +94 "core" ' +4 .tElbow.seek PC +2 "manipulator"&o( +164 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +86 "core" ( +3 "manipulator"&|& +4 "core" &  r + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & o h ] r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'s +93 "core" ' +2 "manipulator"&>& +4 "core" & l k r r + "manipulator"&:% +4 "core" %| l k ~ u +2 "processing"%& +4 "core" &Y\ +2 "processing"%& +4 "core" &Y\ +2 .tPC.seek :closed +2 "processing"%W(Yy +4 "core" &K\  +9 &2L\ *z +9 &cK\ ? +10 &NJ\ O +9 &hK\ O +10 &eI\ N +9 &!fJ\ N +9 &#UfL\ O +10 &%eK\ N +9 &&hK\ N +9 &(hJ\ N +10 &*]jJ\ O +9 &,hL\ O +10 &-cK\ N +9 &/hJ\ N +9 &1eeJ\ O +10 &3(fK\ N +9 &4fJ\ N +9 &6hJ\ O +10 &8mgK\ O +9 &:0hG\ N +10 &;jJ\ O +9 &=gK\ N +9 &?veI\ N +10 &A7hI\ O +9 &BhF\ N +9 &DhI\ N +10 &F}jK\ O +9 &H?lF\ O +10 &Jn@\ O +9 &K}H\ P +9 &M~I\ Q +10 &O9K\ T +9 &P=\ U +9 &RG\ U +10 &T{G\ U +9 &V>C\ T +10 &WA\ B +9 &Y<wF\ $j +9 &Y[.;\ . +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.55 + .Hand.open + "manipulator"&H1 +3 "core" &Y[#E\ . +50 1 + "manipulator"&/% +4 "core" % ~ q g  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ Z +94 "core" ' +4 .tSC.coast + "storage"(6 +5 "processing"%A& +8 "core" &Y[#C\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&P% +8 "core" %\ o  q +3 "storage"(D% +7 "core" % (\ } +2 "storage"(I. +6 "core" . +4 .tSC.reconfigure :tight +100 "storage"($\ .(\ 1~b +6 .tSC.seek 1 +2 "storage"(v( +971 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (J& +3 "core" & \ { +2 "manipulator"&^& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]K-0-\ b +2 "core" & j a r +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"((' + "manipulator"& ( +5 "core" ( +2 "manipulator"&5& +3 "core" & i l P r +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & n # r +2 .tForearm.seek PC + "manipulator"&'s +98 "core" ' +3 .tPC.seek :sealed + "processing"%Y(Ni +97 "core" ( +3 .tHand.close + "manipulator"&0/ +46 "core" ' +4 "storage"(K- +8 "core" -' / +4 ."raiseStack"SE.configure :default +6 .tPC.seek :open +6 "storage"(#QK-0-\ b +2 "processing"%O(u +8 ."raiseStack"SE.seek :place +8 "storage"(V' +28 "core" ' +280 ( +2 "storage"(C& +4 "core" & \ x + "manipulator"&3& +4 "core" &  r + "manipulator"&L% +4 "core" % I  < + .tForearm.seek :retract +2 "manipulator"&R'\ Z +92 "core" ' +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 1 +2 "manipulator"&( +256 "core" ( +2 "manipulator"& & +4 "core" & k | T  + "storage"(E& +4 "core" & n o #\ x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts + "manipulator"&['R +92 "core" ' +2 .tHand.open + "manipulator"&=1 +58 "core" 1 +2 "storage"(9- +4 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate + "storage"(e'l +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"(d't +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -'t +2 "storage"(#& +3 "core" & - + 5\ k +2 "manipulator"& & +3 "core" & j j y  +2 .tElbow.seek 1 +2 "manipulator"&7( +3 "core" ( + "manipulator"&\\& +4 "core" & k k n  +2 "storage"(G& +3 "core" & * '\ k +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&$'R +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.07 Pucks below Top Plate + "storage"(M' +57 "core" ' +2 "manipulator"&g& +4 "core" & l m z  + "storage"(`& +4 "core" & \ { + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&!'2 +27 "core" ' +2 .tElbow.hold + "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 "manipulator"&i% +4 "core" %D ~  ? + "storage"(N& +4 "core" & \ y +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 318 counts +2 "manipulator"&6'p +18 "core" ' +2 "manipulator"&@& +4 "core" & g l   +2 "storage"(w& +4 "core" & \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&T'R +21 "core" ' +2 "storage"({% +4 "core" % \ | +2 ."downElevator"SE.seek :down +3 "storage"(x'w +100 (s% +3 "core" %P m n 3\ xTY +2 "manipulator"&a% +4 "core" %P h ` e U + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ Z +87 "core" ' +67 ' +3 ."downElevator"SE.coast +2 "storage"(5 +6 .tSC.coast +2 "storage"(6 +4 (&& +8 "core" & D\ ~ +2 "collection"'y& +8 "core" &Y;~\ w< + #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\ P k n +2 "storage"(k% +3 "core" % \ ~ +2 "storage"(S. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(Z( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (;& +2 "core" & s\ ~ +2 "manipulator"&l& +4 "core" & j l  + .tElbow.seek 1 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&4& +4 "core" & f [ P  + "storage"(& +4 "core" & K\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&b'R +92 "core" ' +2 "storage"(+& +4 "core" & \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( ' +272 "core" ' +2 "storage"(u- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Q& +3 "core" & k k l  + "storage"(_& +4 "core" & \ { + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&?'2 +29 "core" ' +2 .tElbow.hold + "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\ - +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(j'! +24 "core" ' +2 "manipulator"&% +4 "core" %D  + "storage"(h& +3 "core" & \ { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 318 counts + "manipulator"&-'p +18 "core" ' +2 "manipulator"&%& +4 "core" & q m q  + "storage"(& +4 "core" & ,\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'R +21 "core" ' + .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(]'# +39 "core" ' +2 "manipulator"&& +4 "core" & f _ M  + "manipulator"&p% +4 "core" %L ^ c - R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ Z +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(S +159 "core" ( +2 "manipulator"&& +4 "core" &^ q z G !r + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &^ j a !r +2 .tForearm.seek CC + "manipulator"&t' +98 "core" ' +3 .tCC.seek :sealed + "collection"'(P +93 "core" ( + .tHand.close +2 "manipulator"&1/ +55 "core" / +2 .tCC.seek :open + "collection"'q( +333 "core" ( +2 "storage"(*& +3 "core" & \ ~ +2 "storage"(& +3 "core" & \ ~ +3 "manipulator"&& +3 "core" &^ ! !r + "manipulator"&c% +4 "core" %  5 +2 .tForearm.seek :retract + "manipulator"&'\ Z +93 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 1 +2 "manipulator"&}( +152 "core" ( +2 "manipulator"&U& +4 "core" & x . + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&'2 +102 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +59 "core" 1 +2 "manipulator"&f% +4 "core" % F " 1 + "storage"(,& +4 "core" & \ ~ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 320 counts + "manipulator"&'r +18 "core" ' +2 "manipulator"&.& +5 "core" & h k  \ + "storage"(z& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts + "manipulator"&|'R +21 "core" ' +2 "storage"( % +89 "core" %,   8\  +4 ."downElevator"SE.seek :down +6 "storage"(''w +97 (>% +3 "core" %S \ |SX + "manipulator"&:% +4 "core" %[ ` i M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ Z +86 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +12808 #t-> ESP.shutdown +3 ."shutdown"CS.coast +3 #tAsleep / Shutdown + "collection"'5 +2 ."shutdown"SS.coast + "sampler")5 +3 ."shutdown"CC.coast +2 "collection"'6 +6 ."shutdown"PC.coast +2 "processing"%6 +4 ."shutdown"Forearm.coast +5 "manipulator"&5 +4 ."shutdown"Elbow.coast +2 "manipulator"&6 +44 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF +2 #Shutdown +28535 "Can"u\ fc +53094 #t-> 90.0/SEinch +2891 #-> Puck.raiseStack +2 !o: BusOff: mesg"Ecore bus was not powered while reading Storage Carousel's status:@checkpoint: omitted:bt["3/home/brent/esp2/lib/i2c/sleepy.rb:445:in `<<'"3/home/brent/esp2/lib/i2c/msg.rb:765:in `write'"2/home/brent/esp2/lib/i2c/msg.rb:405:in `send'"4/home/brent/esp2/lib/i2c/servo.rb:612:in `send'"4/home/brent/esp2/lib/i2c/servo.rb:635:in `send'";/home/brent/esp2/lib/i2c/msg.rb:430:in `await1stReply'" ESP.ready! +2 #Powering core bus +484 .Gate.power :raw,:ON +2 "sampler") +2 )~ + "core"  +2 "collection"' +2 'n +2 "core"  +2 "processing"% +3 %H +2 "core"  +7 "collection"' 9\ +4 ' 0\ +4 ' -\ +7 "processing"% 9\ +4 % 2\ +5 % *\ +2 % 0\ +7 "sampler")&\ +4 "collection"'/% +4 "core" %\ ~ +4 .tCS.configure :default +4 "collection"'#P d@b +4 "processing"%A% +6 "core" %D\ +2 .tPS.configure :default +4 "processing"%#A d`xb +4 "sampler")P% +6 "core" %Q\ x +2 .tSS.configure :default +4 "sampler")#.0X27]: @requesto:I2C::Shaft::RotateRequest: @replyqo:\ Queue: @waiting[: @que[:@destinationi,: @tag0:@maxDelayo:\ Delay: @_dc_obji: @channeli:@direction0: @dontLog0: @timeout0:\ @goali:bt["3/home/brent/esp2/lib/schedule.rb:511:in `stop'"3/home/brent/esp2/lib/schedule.rb:600:in `stop'"1/home/brent/esp2/lib/queuefix.rb:94:in `pop'"8/home/brent/esp2/lib/i2c/msg.rb:420:in `awaitReply'";/home/brent/esp2/lib/i2c/msg.rb:431:in `await1stReply'"20]aborted at 511:bt["?/home/brent/esp2/lib/i2c/msg.rb:603:in `processUnexpected'"5/home/brent/esp2/lib/i2c/msg.rb:598:in `process'"4/home/brent/esp2/lib/msg.rb:212:in `initialize'"./home/brent/esp2/lib/msg.rb:209:in `loop'"4/home/brent/esp2/lib/msg.rb:209:in `initialize'"9/home/brent/esp2/lib/schedule.rb:482:in `initialize'"2/home/brent/esp2/lib/thread.rb:713:in `start'"9/home/brent/esp2/lib/schedule.rb:475:in `initialize'")/home/brent/esp2/lib/schedule.rb:473 +191 ( +40 ( +522 +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust + "sampler")N +3 "core"  +2 "sampler")V  +4 "core"  +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b + "sampler")#.0X CSV.stop + .CSV.stop + "collection"' +4 "core" +168 #t-> CSV.stop +2 .CSV.stop +2 "collection"'k +6 "core" +97 #t-> CSV.stop + .CSV.stop + "collection"'S +4 "core" +1595 #t-> SC.to 1 +2 .SC.reconfigure :loose +3 "storage"($.(\ 1~b +2 .tSC.seek 1 +4 "storage"(;( +658 "core" ( +4 "storage"(l& +6 "core" & 0\  +910 #t-> Puck.raiseStack + "storage"(4& +3 "core" & \ ~ +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +299 "core" ' +2 "storage"(T- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +548 #t-> SE.down +4 .SE.seek :down +2 "storage"(+'w +252 "core" ' +2 "storage"(x% +3 "core" %{ *\ } +5462 #t-> raiseStack(:place, SEpick) +2 !o:NoMethodError : mesg"3undefined method `raiseStack' for Object:Class: name0: args0:bt[\ "=/home/brent/esp2/lib/framework.rb:51:in `method_missing'"=/home/brent/esp2/lib/framework.rb:63:in `method_missing'"(ESP):19:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +673 #-> Puck.raiseStack(:place, SEpick) +2 "storage"(v& +3 "core" & \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8' +275 "core" ' +4 "storage"(- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +3812 #t-> Hand.open + .Hand.open + "manipulator"&u1 +53 "core" 1 +234 #t-> Arm.to 1 +2 "manipulator"&Q& +6 "core" & k k & +4 .tElbow.seek 1 +2 "manipulator"&_( +37 "core" ( +4 "manipulator"&\ & +6 "core" & k l b  +4 "storage"(& +6 "core" & \ } +4 .tForearm.seek 1 + 800 counts +3 "manipulator"&h'R +98 "core" ' +2 "manipulator"&%& +4 "core" & \\ g O  + "manipulator"&% +4 "core" %P b ^ U ! +777 #t-> Hand.close +2 .Hand.close + "manipulator"&/ +61 "core" / +481 #t-> Hand.open +3 .Hand.open +2 "manipulator"&p1 +64 "core" 1 +614 #t-> SE.down + .SE.seek :down +2 "storage"(b'w +269 "core" ' +2 "storage"(F% +4 "core" %t E\ ~ +553 #t-> SEpick +531 #-> SEpick.thresholdOffset +385 #-> SEpick.thresholdOffset=0 +1035 #-> Puck.raiseStack(:place, SEpick) +2 "storage"( & +3 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?' +275 "core" ' +2 "storage"(-- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +686 #t-> SE.down + .SE.seek :down +2 "storage"(j'w +264 "core" ' +2 "storage"(% +4 "core" % "\ ~ +1433 #t-> SEpick.thresholdOffset=.2*SEinch +907 #-> SEpick.thresholdOffset=(.2*SEinch).round +459 #-> Puck.raiseStack(:place, SEpick) +2 "storage"(& +3 "core" & \ ~ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +286 "core" ' +2 "storage"(<- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +813 #t-> SEpick.thresholdOffset=-(.2*SEinch).round +364 #-> SE.down + .SE.seek :down +2 "storage"(1'w +259 "core" ' +2 "storage"("% +4 "core" %~ \ ~ +168 #t-> Puck.raiseStack(:place, SEpick) +2 "storage"(B& +3 "core" & \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]eK-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +280 "core" ' +4 "storage"(*- +6 "core" -'j +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +298 #t-> SE.down + .SE.seek :down +2 "storage"('w +269 "core" ' +2 "storage"(% +4 "core" % N\ ~ +742 #t-> SEpick.thresholdOffset=-(.07*SEinch).round +339 #-> Puck.raiseStack(:place, SEpick) +2 "storage"(c& +3 "core" & \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]pK-0-\ b +3 .tSE.seek :beamBreak + "storage"(U' +275 "core" ' +2 "storage"(- +3 "core" -'t + .tSE.configure :default +2 "storage"(#QK-0-\ b +1023 #t-> Hand.close + .Hand.close + "manipulator"&t/ +55 "core" / +1885 #t-> Hand.open + .Hand.open + "manipulator"&1 +63 "core" 1 +1057 #t-> Hand.close +2 .Hand.close +2 "manipulator"&2/ +64 "core" / +327 #t-> Hand.open + .Hand.open + "manipulator"&f1 +58 "core" 1 +265 #t-> SE.down + .SE.seek :down +2 "storage"(,'w +265 "core" ' +4 "storage"(.% +8 "core" %{ \  +755 #t-> SEpick.thresholdOffset=-(.065*SEinch).round +652 #-> Puck.raiseStack(:place, SEpick) +2 "storage"(z& +6 "core" & \ ~ +4 .tSE.reconfigure :pick +4 "storage"(#]zK-0-\ b +6 .tSE.seek :beamBreak +2 "storage"( ' +276 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +671 #t-> Hand.close + .Hand.close + "manipulator"&}/ +55 "core" / +883 #t-> Hand.open + .Hand.open + "manipulator"&>1 +65 "core" 1 +241 #t-> SE.down + .SE.seek :down +2 "storage"(:'w +266 "core" ' +2 "storage"(% +3 "core" %z \ ~ +602 #t-> shuffle2 +2 #Shuffling two pucks from tube 1 to 2 of [1..7] + #Loading generic puck from tube 1 into Collection Clamp +2 "collection"'& +3 "core" &\ y + "manipulator"&]% +8 "core" % P ` g j ! +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&|'\ Z +99 "core" ' +4 "storage"('% +7 "core" %z \  +3 "storage"(Z. +6 "core" .( +2 "storage"(& +8 "core" & \  +2 "storage"(& +8 "core" & \ ~ +2 "manipulator"&q& +8 "core" & k j  +4 .tElbow.seek 1 +2 "manipulator"&O( +6 "core" ( +4 "manipulator"&& +6 "core" & j j _  +3 "storage"(X& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts + "manipulator"&~'R +91 "core" ' +2 "storage"(n& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(H' +275 "core" ' +2 "storage"(/- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" & \ | + "manipulator"&P& +4 "core" & _ h ?  + .tElbow.seek 1 +2 "manipulator"&D( +3 "core" ( + "manipulator"&& +4 "core" & a h   + "storage"(I& +4 "core" & #\ } +2 .tForearm.seek 1 + 300 counts + "manipulator"&'^ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +3 "storage"(^'w +7 "core" & p -  + "manipulator"&5% +4 "core" % c ^ ]  +2 .tForearm.seek :retract + "manipulator"&'\ Z +92 "core" ' +2 .tElbow.seek CC + "manipulator"&0(S +159 "core" ( +2 "manipulator"&K& +4 "core" &X\ x  f + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&o& +5 "core" &X\ s  f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&)' +101 "core" ' +4 "manipulator"&W& +8 "core" &Y\ B e +3 "manipulator"&3% +7 "core" %  +4 "collection"'L& +8 "core" &\ x +4 "collection"' & +8 "core" &\ x +4 &\ x +4 .tCC.seek :closed +2 "collection"'((Y +10 "core" &\ x +6 &\ x? +7 &YH\ s2 +9 &r\ rF +9 &&r\ tP +10 &e\ tO +9 &g\ tO +9 &!nc\ tP +10 &#0f\ tP +9 &$c\ tO +9 &&h\ tO +10 &(wh\ sO +8 &*9h\ sO +10 &+h\ sP +9 &-f\ tP +9 &/~f\ tP +10 &1Ah\ tO +9 &3c\ tO +9 &4g\ tO +10 &6e\ tP +9 &8Ig\ tO +10 &: e\ tO +9 &;e\ tO +9 &=j\ tO +10 &?Rh\ tO +9 &Ah\ tO +9 &Bh\ tO +10 &Dh\ tO +9 &FXj\ tP +10 &Hh\ tP +9 &It\ tP +9 &Kt\ sQ +10 &MX\ sR +9 &O\ rU +10 &P}~\ pX +9 &R~{\ oY +9 &TM}~\ pY +10 &V }\ o[\ +10 &W~{\ oZ +9 &Y8^z|\ p(| +10 &Y|}\ sA +7 ( +4 &YC}{\ u> +2 "collection"' & +8 #tCollection Clamp onSpring/offSpring for 5/26 samples, on/off torque 1.86 +2 .Hand.open +2 "manipulator"&=1 +8 "core" &YC}{\ u> +47 1 +3 "manipulator"&#% +8 "core" % 7 i ` B | +97 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&\\'\ Z +94 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%R& +4 "core" &]\  +2 "manipulator"&G% +3 "core" %\ | ^ a 6 o +2 "storage"(C% +4 "core" % >\ } + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(9( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (Y& +3 "core" & f\ } + "manipulator"&i& +4 "core" &Y\ n r  e + "manipulator"&N% +4 "core" %\ | a c > o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&V( +150 "core" ( +2 "manipulator"&e& +8 "core" & ] ^ +3 "storage"({& +9 "core" & \ ~ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 1 + 800 counts +3 "manipulator"&'R +99 "core" ' +2 "storage"([& +4 "core" & \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(d' +272 "core" ' +2 "storage"(s- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (a& +2 "core" & /\ { +2 "manipulator"&$& +4 "core" & ] ] + .tElbow.seek 1 +2 "manipulator"&7( +5 "core" ( +2 "manipulator"&M& +4 "core" & k f  \ + "storage"(!& +4 "core" & \ { +2 .tForearm.seek 1 + 300 counts + "manipulator"&6'^ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +2 "storage"('w +5 "core" & p ^ \ +2 "manipulator"&% +3 "core" % V q z { +2 .tForearm.seek :retract +2 "manipulator"&k'\ Z +94 "core" ' +4 .tElbow.seek PC +2 "manipulator"&S( +166 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +83 "core" ( +2 "manipulator"& & +4 "core" &\ {  j + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &\ g } N j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&4's +91 "core" ' +4 "manipulator"&T& +8 "core" &\ n  j +3 "manipulator"&E% +7 "core" %s l m +4 "processing"%x& +8 "core" &]3\  +4 "processing"%& +8 "core" &]\  +4 &]\  +4 .tPC.seek :closed +2 "processing"%v(Yy +8 "core" &]\  +6 &]\ > +8 &I\ 2 +10 &s\ F +9 &u\ O +9 &l\ O +10 & Fi\ O +9 &"i\ O +10 &#m\ O +9 &%i\ N +9 &'Nj\ O +10 &)k\ O +8 &*f\ O +9 &,j\ O +10 &.Vg\ O +9 &0k\ O +10 &1m\ O +9 &3m\ O +9 &5^n\ O +10 &7 k\ O +9 &8k\ O +9 &:j\ O +10 &(m\ O +10 &?g\ O +9 &Ai\ O +9 &Cni\ O +10 &E0l\ O +9 &Fh\ O +9 &Hk\ O +10 &Jsp\ P +9 &L1{\ Q +9 &M\ R +10 &O\ U +9 &Qm\ T +10 &S-\ U +9 &T\ V +9 &V\ V +10 &X^\ 6 +9 &Y4.v\ O +10 &YV"\ - +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&1 +58 "core" 1 +4 "manipulator"&+% +8 "core" % y ^ a k  +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&u'\ Z +95 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%Q& +4 "core" &YV \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&\ % +3 "core" %\ ^ ] ]  +2 "storage"(% +3 "core" % \ | +2 "storage"(%. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(( A +185 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +4 "core" & > F\ { +2 "manipulator"& & + ."raiseStack"SE.reconfigure :place +6 "storage"(#]K-0-\ b +2 "core" &\ g _  j +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(' +3 "manipulator"&p( +4 "core" ( +2 "manipulator"&F& +3 "core" &\ _ h j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +2 "core" &\ a i j +2 .tForearm.seek PC +2 "manipulator"& 's +98 "core" ' +3 .tPC.seek :sealed + "processing"%-(Ni +95 "core" ( +4 .tHand.close +2 "manipulator"&b/ +42 "core" ' +4 "storage"(- +6 "core" -' +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +2 "storage"(?' +6 "core" / +2 .tPC.seek :open +4 "processing"%(u +17 "core" ' +300 ( +3 "storage"(<& +7 "core" & > \ | +4 "manipulator"&j& +7 "core" &\ m o ! j +3 "manipulator"&"% +7 "core" % e W N +3 .tForearm.seek :retract +3 "manipulator"&'\ Z +97 "core" ' +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +2 "manipulator"&B( +258 "core" ( +2 "manipulator"&*& +4 "core" & q } = ! + "storage"(1& +4 "core" & > \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts + "manipulator"&'+ +99 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(c- +4 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate + "storage"('l +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.78 Pucks below Top Plate +2 "storage"('t +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +3 "core" -'t +2 "storage"(& +3 "core" & > Y a E\ r +2 "manipulator"&2& +3 "core" & a k p ! +2 .tElbow.seek 2 + "manipulator"&f( +25 "core" ( +2 "manipulator"&.& +4 "core" & d i J ~ + "storage"(U& +4 "core" & > b Z <\ r +2 .tForearm.seek 2 + 800 counts + "manipulator"&z'+ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.07 Pucks below Top Plate + "storage"(' +56 "core" ' +2 "manipulator"&,& +4 "core" & ` ^ ~ + "storage"(}& +4 "core" & > \ } + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&>' +35 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"( ' +20 "core" ' +2 "manipulator"&% +4 "core" %  + "storage"(]& +4 "core" & > \ { + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&''B +18 "core" ' +2 "manipulator"&Z& +4 "core" & i g @ } + "storage"(& +4 "core" & > \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts + "manipulator"&'+ +21 "core" ' +2 "storage"(q% +4 "core" % \ } +2 ."downElevator"SE.seek :down +3 "storage"('w +100 (X% +6 "core" %R \ {TY +4 "manipulator"&n% +8 "core" %9 g ] * 3 +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&h'\ Z +93 "core" ' +44 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (_& +3 "core" & > ;\ ~ +2 "collection"'|& +3 "core" &YD}z\ w> +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&/% +3 "core" %\ P j j e  +2 "storage"(A% +3 "core" % \ ~ +2 "storage"(P. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(:( A +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +49 (& +4 "core" & > \ } + "manipulator"&I& +4 "core" & k j } +2 .tElbow.seek 2 + "manipulator"&m( +4 "core" ( + "manipulator"&J& +4 "core" & h j ) } + "storage"(5& +4 "core" & > \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&O'+ +94 "core" ' +4 "storage"(~& +8 "core" & > \ ~ +4 .tSE.reconfigure :pick +4 "storage"(#]zK-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(K' +264 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&H& +3 "core" & k k 8 } +2 "storage"(& +3 "core" & > \ | +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&W' +34 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(3- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(L' +26 "core" ' +2 "manipulator"&^% +4 "core" % : + "storage"(& +4 "core" & > \ z + .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 2 + 310 counts +2 "manipulator"&`'A +19 "core" ' +4 "manipulator"&=& +8 "core" & k l } +2 "storage"(#& +8 "core" & > \ ~ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts +4 "manipulator"& '+ +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(R' +43 "core" ' +2 "manipulator"&G& +4 "core" & h k Z } + "manipulator"&C% +4 "core" %= h ` A 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +87 "core" ' +2 .tElbow.seek CC + "manipulator"&Y(S +158 "core" ( +2 "manipulator"&i& +5 "core" &O o w Q !p + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &O\ h ^ 1 !p +2 .tForearm.seek CC + "manipulator"&)' +102 "core" ' +3 .tCC.seek :sealed + "collection"'e(P +95 "core" ( +4 .tHand.close +2 "manipulator"&{/ +52 "core" / +4 .tCC.seek :open +2 "collection"';( +330 "core" ( +4 "storage"([& +7 "core" & > B\ } +3 "storage"(0& +7 "core" & > 9\ } +3 "manipulator"&\\& +7 "core" &P  o +3 "manipulator"&s% +7 "core" %  +3 .tForearm.seek :retract +4 "manipulator"&a'\ Z +100 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +2 "manipulator"&$( +156 "core" ( +2 "manipulator"&M& +4 "core" & x   + "storage"(!& +4 "core" & > \ } + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&&' +104 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +3 "manipulator"&V% +4 "core" %   + "storage"(& +4 "core" & > \ | + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&d'K +22 "core" ' +2 "manipulator"&6& +4 "core" & f X  + "storage"( & +4 "core" & > \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&l'+ +25 "core" ' +2 "storage"(7% +4 "core" %$ x ] S\ +2 ."downElevator"SE.seek :down +3 "storage"(T'w +99 (E% +3 "core" %Q \ ~SW + "manipulator"&x% +4 "core" %( ^ ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ Z +101 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling two pucks from tube 2 to 3 of [1..7] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'k& +4 "core" &\ z + "manipulator"&g% +4 "core" %\ C d ^ a + "storage"(% +4 "core" %   8\ + "storage"(+. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(Q( A +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (\ & +2 "core" & > # - \  +2 "manipulator"&& +4 "core" & ] ]  + .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&%& +3 "core" & f Y   +2 "storage"(4& +3 "core" & >   w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts + "manipulator"&'+ +100 "core" ' +4 "storage"( & +9 "core" & >  $ \  +3 .tSE.reconfigure :pick +3 "storage"(#]zK-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(F' +277 "core" ' +2 "storage"(8- +3 "core" -'x + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +2 "core" & > m\ ~ +2 "manipulator"&& +3 "core" & ] c  +2 .tElbow.seek 2 + "manipulator"&b( +3 "core" ( +2 "manipulator"&S& +3 "core" & ` g  +2 "storage"(u& +3 "core" & > \ ~ +2 .tForearm.seek 2 + 300 counts + "manipulator"&v'7 +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&-& +8 "storage"(<'w +8 "core" & ` h 4  +2 "manipulator"&j% +8 "core" % O | D +4 .tForearm.seek :retract +2 "manipulator"&"'\ Z +97 "core" ' +2 .tElbow.seek CC + "manipulator"& (S +145 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +10 "core" ( +2 "manipulator"&*& +4 "core" &V } !r + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &W  !q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p' +98 "core" ' +4 "manipulator"&& +8 "core" &W ~ R !q +4 "manipulator"&c% +8 "core" %  y U +3 "collection"'t& +7 "core" &\ y +4 "collection"'& +10 "core" &\ y +6 .tCC.seek :closed +2 "collection"'2(Y +8 "core" &\ y +4 &\ y +5 &41~\ t*z +9 &2c\ s? +8 &~\ sO +10 &pc\ uO +9 &3d\ uO +10 & b\ uO +9 &"b\ uO +9 &${_\ uN +10 &&;b\ uO +9 &'`\ uO +9 &)b\ uO +10 &+`\ uO +9 &-B`\ uO +10 &/`\ uO +9 &0`\ uO +9 &2`\ uN +10 &4L_\ uO +9 &6_\ uN +9 &7b\ uO +10 &9b\ uO +9 &;Sa\ uO +10 &=`\ uO +9 &>b\ uO +9 &@d\ uO +10 &B\\`\ uO +9 &Dd\ uO +9 &Ea\ uO +10 &Gg\ tO +9 &Ial\ uP +10 &K!m\ uP +9 &L{\ tR +9 &N\ tR +10 &PT\ rW +9 &R|\ qX +9 &S~\ pY +10 &U~\ pZ +9 &WS}~\ pZ +10 &Xx~\ r3 +9 &Y'{\ sV +8 ( +2 &Y]}}\ vE + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.94 +2 .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&.% +4 "core" % ' g k $ v + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&U'\ Z +95 "core" ' +4 .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%,& +8 "core" &\ +4 "manipulator"&}% +6 "core" %\ a a m =  +4 "storage"(?% +8 "core" % \ } +2 "storage"(. +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 2 +2 "storage"(]( A +6 "core" ( +3 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (& +7 "core" & > \ } +3 "manipulator"&Z& +8 "core" &W _ ^ 3 !q +2 "manipulator"&% +8 "core" %\ a k a P  +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +3 "manipulator"&q( +156 "core" ( +2 "manipulator"&B& +4 "core" & j h ^  + "storage"(& +4 "core" & > r\ } +2 .tForearm.reconfigure :tight +48 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts + "manipulator"&'+ +98 "core" ' +2 "storage"(X& +8 "core" & > \ ~ +4 .tSE.reconfigure :pick +4 "storage"(#]zK-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(n' +267 "core" ' +2 "storage"(z- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (f& +3 "core" & > \ { + "manipulator"&& +4 "core" & ^ i   + .tElbow.seek 2 +2 "manipulator"&>( +3 "core" ( + "manipulator"&'& +4 "core" & g i 6  + "storage"(_& +4 "core" & > $\ | +2 .tForearm.seek 2 + 300 counts + "manipulator"&|'7 +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(P'w +7 "core" & a ^ D  + "manipulator"& % +4 "core" % + l n R +2 .tForearm.seek :retract + "manipulator"&'\ Z +91 "core" ' +2 .tElbow.seek PC + "manipulator"&I( +165 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +79 "core" ( +2 "manipulator"&J& +4 "core" & z % l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" & a k } l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'s +94 "core" ' +2 "manipulator"&~& +4 "core" & y } O l + "manipulator"&% +4 "core" %r { # v +2 "processing"%& +3 "core" &7\ +2 "processing"%& +5 "core" &3\ +2 .tPC.seek :closed + "processing"%h(Yy +4 "core" &\  +10 &1\ *y +9 &b\ > +10 &@\ O +9 &k\ O +10 &h\ O +9 &!i\ O +9 &#Hg\ O +10 &%\ g\ O +9 &&g\ O +10 &(g\ N +10 &*Og\ O +9 &,g\ O +10 &-g\ O +9 &/i\ O +9 &1Xj\ O +10 &3k\ O +9 &4j\ O +9 &6i\ O +10 &8_i\ O +9 &:#e\ N +10 &;j\ O +9 &=d\ O +9 &?hd\ O +10 &A*h\ O +9 &Bc\ O +9 &Dj\ O +10 &Fpe\ O +9 &H2g\ O +10 &Im\ O +9 &K}\ Q +9 &Mqy\ Q +10 &O-\ S +9 &P\ U +8 &R\ T +10 &To\ T +9 &V/\ U +10 &W\ C +9 &YCy\ \\ +9 &Y\\4\ . +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&o1 +3 "core" &Y\\$\ . +56 1 + "manipulator"&H% +4 "core" % s p m ' u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ Z +95 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%3& +4 "core" &Y\\$0\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&^% +6 "core" %\ k h ] ;  +4 "storage"(% +8 "core" %| <\ | +2 "storage"(=. +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 3 +2 "storage"(#( +192 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (G& +4 "core" &! \ z + "manipulator"&C& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]K-0-\ b +2 "core" & g ` C l +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&O( +3 "storage"(m' +4 "core" ( +2 "manipulator"&K& +4 "core" & e ` l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" & e d , l +2 .tForearm.seek PC +2 "manipulator"&`'s +97 "core" ' +3 .tPC.seek :sealed + "processing"%L(Ni +98 "core" ( +4 .tHand.close +2 "manipulator"&i/ +41 "core" ' +4 "storage"(N- +5 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( ' +2 "core" / +3 .tPC.seek :open +2 "processing"%D(u +23 "core" ' +294 ( + "storage"({& +4 "core" & \ y +2 "manipulator"&& +3 "core" & m b l +3 "manipulator"&(% +3 "core" % r } q 3 X +2 .tForearm.seek :retract +2 "manipulator"&e'\ Z +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&[( +60 "Can"s\ YXY +188 "core" ( +2 "manipulator"&0& +4 "core" & |  + "storage"(\\& +4 "core" & \ y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts + "manipulator"&s'L +89 "core" ' +2 .tHand.open + "manipulator"&M1 +62 "core" 1 +3 "storage"(!- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"()'l +23 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.78 Pucks below Top Plate +4 "storage"(Y't +49 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(- +6 "core" -'t +4 "storage"(V& +6 "core" & a \\ \ q +3 "manipulator"&& +7 "core" & _ \\ +4 .tElbow.seek 3 +2 "manipulator"&6( +6 "core" ( +2 "manipulator"& & +8 "core" & ] ] +3 "storage"(7& +7 "core" & X Y "\ q +4 .tForearm.seek 3 + 800 counts +3 "manipulator"&a'L +16 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +6 .tSE.seek -0.07 Pucks below Top Plate +2 "storage"(E' +61 "core" ' +2 "manipulator"&x& +4 "core" & ] _ + "storage"($& +4 "core" & \ { + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&&', +38 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(k' +25 "core" ' +2 "manipulator"&g% +4 "core" %>   + "storage"(& +4 "core" & \ y + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&+'j +19 "core" ' +2 "manipulator"&R& +4 "core" & l g . + "storage"(\ & +5 "core" &! \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 800 counts + "manipulator"&'L +22 "core" ' +2 "storage"(%% +4 "core" % ^\ | +2 ."downElevator"SE.seek :down +4 "storage"(4'w +100 (l% +6 "core" %;U \ yUZ +4 "manipulator"& % +8 "core" %] ` ^ 4 +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&T'\ Z +94 "core" ' +46 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (:& +4 "core" & \ } + "collection"'y& +4 "core" &Y^}|\ wE +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +3 "core" %\ i k l l  +2 "storage"(8% +3 "core" % \ } +2 "storage"(9. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (S& +3 "core" & z\ } +2 "manipulator"&u& +3 "core" & ] \\ +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&-& +4 "core" & k f + "storage"(j& +4 "core" & |\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts + "manipulator"&'L +91 "core" ' +2 "storage"(& +4 "core" & \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(*' +262 "core" ' +4 "storage"(1- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&F& +6 "core" & k ` 7 +2 "storage"(v& +8 "core" & \ | +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +4 "manipulator"&', +36 "core" ' +4 .tElbow.hold +78 "manipulator"&c, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(b- +2 "core" -' +3 .tSE.seek 0.14 Pucks below Top Plate + "storage"(t' +28 "core" ' +2 "manipulator"&<% +4 "core" %=  + "storage"("& +4 "core" & \ z + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&;'i +19 "core" ' +2 "manipulator"&& +4 "core" & j f H + "storage"(.& +4 "core" & \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&,'L +22 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(}' +39 "core" ' +2 "manipulator"&& +4 "core" & j l / + "manipulator"&?% +4 "core" %[ d ] 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ Z +88 "core" ' +4 .tElbow.seek CC +3 "manipulator"&(S +158 "core" ( +2 "manipulator"&Z& +4 "core" &] Y g ^ "{ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &] l j d "{ +2 .tForearm.seek CC +2 "manipulator"&p' +96 "core" ' +3 .tCC.seek :sealed + "collection"'B(P +95 "core" ( +2 .tHand.close + "manipulator"&/ +55 "core" / +4 .tCC.seek :open +3 "collection"'Q( +332 "core" ( +2 "storage"( & +4 "core" & \ ~ + "storage"(X& +4 "core" & \ ~ + "manipulator"&U& +4 "core" &]  "{ + "manipulator"&z% +4 "core" %   9 + .tForearm.seek :retract +2 "manipulator"&f'\ Z +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +158 "core" ( +4 "manipulator"&'& +8 "core" & k j   +2 "storage"(_& +8 "core" & \  +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +6 .tForearm.seek 3 +2 "manipulator"&/', +104 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +58 "core" 1 +2 "manipulator"&q% +5 "core" % ?  +2 "storage"(& +3 "core" & \ } + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&n'k +20 "core" ' +2 "manipulator"&|& +4 "core" & i k F  + "storage"(J& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&5'L +15 "core" ' +2 "storage"(>% +4 "core" %! \ ~ +2 ."downElevator"SE.seek :down +3 "storage"(~'w +99 (% +6 "core" %_R e\ }TX +4 "manipulator"&% +8 "core" %V \\ ] - +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&P'\ Z +91 "core" ' +45 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 3 to 4 of [1..7] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &\ z + "manipulator"&% +4 "core" %\  j e - = +2 "storage"(o% +4 "core" %y 1  \ + "storage"(H. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(3( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (^& +2 "core" &   B\  +2 "manipulator"&& +3 "core" & ^ b   +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&=& +3 "core" & ] i  +2 "storage"(& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&G'L +93 "core" ' +2 "storage"(C& +4 "core" &  %\  +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(K' +277 "core" ' +2 "storage"(W- +3 "core" -'t + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" & f\ ~ +2 "manipulator"&N& +4 "core" & c _  + .tElbow.seek 3 + "manipulator"&i( +4 "core" ( + "manipulator"&I& +3 "core" & j Z  +2 "storage"(& +3 "core" & \ ~ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&h'X +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"({'w +6 "core" & a m X  +2 "manipulator"&% +4 "core" % [ j h q & + .tForearm.seek :retract +2 "manipulator"&('\ Z +89 "core" ' +3 .tElbow.seek CC + "manipulator"&`(S +159 "core" ( +4 ' +2 ."downElevator"SE.coast +6 "manipulator"&0& +2 "storage"(5 +13 "core" &Y , "z +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &\\& +8 "core" &Y  "z +3 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +4 "manipulator"&O' +94 "core" ' +2 "manipulator"&M& +4 "core" &Y 5 "z + "manipulator"&!% +4 "core" %  8 +2 "collection"'& +4 "core" &\ y +2 "collection"'V& +4 "core" &\ y +2 .tCC.seek :closed + "collection"'(Y +4 "core" &\ y +9 &/\ w$c +10 &U\ t7 +9 &~\ sL +9 &c\ tO +10 &b\ uO +9 & Zc\ tO +9 &"b\ uN +10 &#`\ uN +9 &%c\ uO +10 &'b`\ uO +9 &)$_\ uO +9 &*]\ uN +10 &,`\ tO +9 &.kc\ uN +9 &0-_\ tN +10 &1c\ tO +9 &3`\ tO +10 &5rc\ uO +9 &74a\ uO +9 &8^\ uO +11 &:c\ uO +9 &<`\ tO +10 &?^\ uO +9 &A]\ tO +10 &Cb\ tN +9 &ED]\ uO +9 &Gd\ tO +10 &Hh\ tO +9 &Jn\ tP +9 &LHr\ tP +10 &N{~\ sR +9 &O~\ rU +10 &Qx~|\ qX +9 &S6~{\ pY +9 &T|\ pY +10 &V|\ oZ +9 &Xv}~\ oH +9 &Y>~|\ q!f +10 &Yp~}\ tK +6 ( +4 "collection"'V& +5 #tCollection Clamp onSpring/offSpring for 4/25 samples, on/off torque 1.97 +3 .Hand.open +2 "manipulator"& 1 +4 "core" &Yu{{\ tK +53 1 + "manipulator"&e% +4 "core" %  u f 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ Z +103 "core" ' +2 .tSC.coast "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%x& +4 "core" &;\ +2 "manipulator"&$% +3 "core" %\ = d k   +2 "storage"( % +3 "core" % \ } +2 "storage"(). +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(g( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +3 "core" & e\ } + "manipulator"&R& +4 "core" &Z ] ] "y + "manipulator"&\ % +4 "core" %\ = k n y  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&[( +153 "core" ( +2 "manipulator"&%& +4 "core" & j i + "storage"(s& +4 "core" & \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&Y'L +95 "core" ' +2 "storage"(l& +4 "core" & \ } + .tSE.reconfigure :pick +3 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"( ' +267 "core" ' +2 "storage"(a- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" & \ { +2 "manipulator"&E& +3 "core" & i l W +2 .tElbow.seek 3 + "manipulator"&&( +3 "core" ( +2 "manipulator"&+& +4 "core" & k j . + "storage"(:& +4 "core" & \ { + .tForearm.seek 3 + 300 counts +2 "manipulator"&y'X +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +7 ."downElevator"SE.seek :down +6 "manipulator"&8& +4 "storage"(k'w +108 "core" & q Q +6 "manipulator"&9% +8 "core" % ] q l $ +4 .tForearm.seek :retract +2 "manipulator"&S'\ Z +94 "core" ' +2 .tElbow.seek PC + "manipulator"&u( +146 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +100 "core" ( +4 "manipulator"&-& +8 "core" &\ q z  n +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &j& +6 "core" &\ h | q n +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&'s +99 "core" ' +2 "manipulator"&& +4 "core" &\ r n +2 "manipulator"&4% +3 "core" %y j k H Q +2 "processing"%#& +3 "core" &=\ +3 "processing"%d& +4 "core" &B\ +2 .tPC.seek :closed +2 "processing"%T(Yy +4 "core" &\  +9 &2\ *y +9 &c \ ? +10 &C\ O +9 &j\ O +9 &h\ N +10 &!h\ O +9 &#Kj\ O +9 &%g\ N +10 &&m\ O +9 &(c\ N +10 &*Tg\ N +9 &,f\ O +9 &-d\ N +10 &/i\ N +9 &1[e\ O +9 &3k\ O +10 &4h\ O +9 &6e\ N +10 &8ci\ O +9 &:%h\ O +9 &;i\ N +10 &=g\ N +9 &?ke\ O +9 &A-g\ O +10 &Bc\ O +9 &De\ O +11 &Fsc\ O +9 &H4f\ O +9 &Im\ O +10 &Kx\ P +9 &Mt{\ Q +9 &O-\ T +10 &P\ U +9 &R\ U +9 &Tp\ U +9 &V1\ U +9 &W\ B +10 &YAy\ ` +9 &Y_7\ , +5 ( +2 "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.53 + .Hand.open + "manipulator"&11 +3 "core" &Y_ \ , +53 1 + "manipulator"&F% +4 "core" % y j ^ % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ Z +101 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%b& +4 "core" &Y_ 1\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&<% +4 "core" %\ A j b   + "storage"("% +4 "core" %y \ | + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"(.(, +185 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +4 "core" &, \ { + "manipulator"&?& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]K-0-\ b +2 "core" &\ ] g n +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +3 "storage"(' +2 "core" ( +2 "manipulator"&*& +4 "core" &\ a k , n + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &\ i b n +2 .tForearm.seek PC + "manipulator"&;'s +97 "core" ' +6 .tPC.seek :sealed +2 "processing"%t(Ni +96 "core" ( +2 .tHand.close + "manipulator"&Z/ +49 "core" ' +2 "storage"(- +3 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +3 "core" / +2 .tPC.seek :open +2 "storage"(,' + "processing"%c(u +27 "core" ' +293 ( +2 "storage"(& +3 "core" &, \ { +2 "manipulator"&& +4 "core" &\ z ` n +2 "manipulator"&2% +4 "core" % _ o  R + .tForearm.seek :retract +2 "manipulator"&B'\ Z +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& (H +245 "core" ( +2 "manipulator"&X& +4 "core" &@ } k   + "storage"(U& +4 "core" &, \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts + "manipulator"&z'e +101 "core" ' +2 .tHand.open + "manipulator"&'1 +59 "core" 1 +2 "storage"(_- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"(p'l +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.78 Pucks below Top Plate +2 "storage"('t +50 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -'t +2 "storage"(q& +3 "core" &, W ` \ q +2 "manipulator"&& +3 "core" &A j j $  +2 .tElbow.seek 4 + "manipulator"&|(H +4 "core" ( + "manipulator"&J& +3 "core" &A j g  +2 "storage"(>& +3 "core" &, X ` k\ q +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&f'e +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.07 Pucks below Top Plate + "storage"(' +58 "core" ' +2 "manipulator"&& +4 "core" &A h j  + "storage"(& +4 "core" &, \ | + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&/'E +36 "core" ' +2 .tElbow.hold + "manipulator"&, +6 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +5 "storage"(#QK-0-\ b +3 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"(n' +22 "core" ' +4 "manipulator"&% +8 "core" %X  +2 "storage"(o& +8 "core" &, (\ y +3 .tForearm.force -20 + "manipulator"&5 +6 .tForearm.seek 4 + 319 counts +2 "manipulator"&H'΄ +20 "core" ' +4 "manipulator"&}& +8 "core" &A ] `  +2 "storage"(^& +8 "core" &, .\ | +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 4 + 800 counts +2 "manipulator"&'e +21 "core" ' +4 "storage"(=% +8 "core" % \ | +4 ."downElevator"SE.seek :down +6 "storage"('w +99 (5% +3 "core" %8T \ yUZ +2 "manipulator"&C% +4 "core" %m \\ ^ I + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&~'\ Z +88 "core" ' +69 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (& +4 "core" &, \ } + "collection"'A& +4 "core" &Yt~}\ vK +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&P% +4 "core" %\ G ^ a ' | +3 "storage"(W% +8 "core" % w\ } +2 "storage"(]. +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 4 +2 "storage"(N(, +6 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (I& +8 "core" &, \ } +2 "manipulator"&& +8 "core" &A g ]   +3 .tElbow.seek 4 +3 "manipulator"&m(H +6 "core" ( +2 "manipulator"&L& +8 "core" &A j g '  +2 "storage"(& +8 "core" &, \ } +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 800 counts +2 "manipulator"&'e +99 "core" ' +2 "storage"(G& +4 "core" &, r\ } +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(0' +268 "core" ' +2 "storage"(\\- +4 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&K& +5 "core" &A h \\  +4 "storage"(h& +6 "core" &, 3\ | +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 4 +4 "manipulator"&i'E +36 "core" ' +2 .tElbow.hold + "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(!- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 "manipulator"&{% +4 "core" %S  + "storage"((& +4 "core" &, \ y + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&Q' +17 "core" ' +2 "manipulator"& & +4 "core" &A e j  + "storage"(e& +4 "core" &, l\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&x'e +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"($' +36 "core" ' +2 "manipulator"& & +4 "core" &A ` g  + "manipulator"&V% +4 "core" %k ^ ^  V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +49 "manipulator"&)'\ Z +99 "core" ' +2 .tElbow.seek CC + "manipulator"&(S +156 "core" ( +2 "manipulator"&R& +4 "core" &^ ` f l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +6 "core" &^ d a l +4 .tForearm.seek CC +2 "manipulator"&O' +101 "core" ' +6 .tCC.seek :sealed +2 "collection"'%(P +95 "core" ( +2 .tHand.close + "manipulator"&s/ +58 "core" / +2 .tCC.seek :open + "collection"'3( +330 "core" ( +2 "storage"(l& +4 "core" &, \ ~ + "storage"(`& +4 "core" &, o\ ~ + "manipulator"&7& +4 "core" &^ G l + "manipulator"&a% +4 "core" % " +2 .tForearm.seek :retract + "manipulator"&6'\ Z +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&E(H +150 "core" ( +4 "manipulator"&+& +8 "core" &S } _ Q +2 "storage"(:& +8 "core" &, %\ ~ +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +6 .tForearm.seek 4 +2 "manipulator"&'E +109 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +56 "core" 1 +2 "manipulator"&[% +4 "core" % W 2 +2 "storage"(Y& +4 "core" &, \ } +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"& '΃ +19 "core" ' +2 "manipulator"&y& +4 "core" &T g ] \ + "storage"(-& +4 "core" &,  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&j'e +26 "core" ' +2 "storage"(&% +4 "core" %'  \ \ +2 ."downElevator"SE.seek :down +3 "storage"('w +99 (4% +3 "core" %Q \ ~SW + "manipulator"&#% +4 "core" %t ^ ] N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ Z +88 "core" ' +59 ' +2 ."downElevator"SE.coast +2 "storage"(5 +4 .tSC.coast +2 "storage"(6 +6 #tShuffling two pucks from tube 4 to 5 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'S& +8 "core" &\ { +3 "manipulator"&D% +7 "core" %\ a g k  \ j +4 "storage"(1% +8 "core" %   (\ +2 "storage"(F. +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 4 +2 "storage"(b(, +4 "core" ( +4 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (<& +6 "core" &, r O \  +4 "manipulator"&"& +8 "core" &T ` k \\ \ +2 .tElbow.seek 4 +4 "manipulator"&(H +7 "core" ( +4 "manipulator"&d& +8 "core" &R i _ 1 +2 "storage"(& +7 "core" &,  \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 800 counts +4 "manipulator"&'e +95 "core" ' +2 "storage"(?& +4 "core" &,  0\  +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(*' +276 "core" ' +4 "storage"(- +6 "core" -'| +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (g& +4 "core" &, c\ ~ +4 "manipulator"&& +7 "core" &R ] ` I +3 .tElbow.seek 4 +2 "manipulator"&Z(H +6 "core" ( +4 "manipulator"&u& +8 "core" &R k j N +2 "storage"(v& +8 "core" &, /\ ~ +4 .tForearm.seek 4 + 300 counts +2 "manipulator"&T'q +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& +2 "storage"('w +6 "core" &R m } < +2 "manipulator"&% +3 "core" % m l q ~ " +2 .tForearm.seek :retract + "manipulator"&2'\ Z +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;(S +157 "core" ( +5 "manipulator"&X& +7 "core" ' +2 &\\ E "x +3 .tElbow.reconfigure :loose +2 ."downElevator"SE.coast +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&U& +4 "core" &] } % !w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&' +97 "core" ' +2 "manipulator"&'& +4 "core" &] C !w + "manipulator"&_% +4 "core" % ! S +2 "collection"' & +3 "core" &\ x +2 "collection"'q& +5 "core" &\ y +2 .tCC.seek :closed + "collection"'(Y +3 "core" &\ y +10 &-\ w$d +9 &V\ s7 +9 &$\ sL +10 &_\ uN +9 &b\ uN +10 & `_\ uO +9 &""^\ uO +9 &#_\ uO +10 &%_\ uN +9 &'i[\ uN +9 &)*a\ uO +10 &*_\ uO +9 &,_\ uO +9 &.qb\ uN +10 &02`\ uO +9 &1_\ uN +10 &3_\ uN +9 &5x^\ uO +9 &7:^\ tO +10 &8^\ uO +9 &:_\ uO +9 &<\\\ uN +10 &>Ba\ uO +9 &@_\ uN +10 &A\\\ uN +9 &C`\ uN +9 &EJ^\ uO +10 &G `\ uN +9 &He\ uO +9 &Jk\ tP +10 &LMp\ tP +9 &N {\ tR +10 &O~\ rT +9 &Q}z\ qX +9 &S<}|\ pY +10 &T~~\ pY +9 &V~\ pZ +10 &X}}|\ oG +10 &Y=~{\ p!f +9 &Y3~~\ v; +6 ( +4 "collection"'q& +6 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 2.03 +2 .Hand.open +2 "manipulator"&J1 +6 "core" &Y3{}\ v; +52 1 +2 "manipulator"&>% +8 "core" % \ k l A B +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&B'\ Z +98 "core" ' +2 .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ \ +2 "manipulator"&% +3 "core" %\ t j l ~ m +2 "storage"(,% +4 "core" % _\ ~ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"(o(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (p& +2 "core" &, U\ } +2 "manipulator"&}& +4 "core" &] g ] !w + "manipulator"&^% +4 "core" %\ t g _  m + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"& (H +150 "core" ( +4 "manipulator"&=& +8 "core" &P k ` M  +2 "storage"(z& +8 "core" &, \ ~ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 800 counts +2 "manipulator"&'e +96 "core" ' +4 "storage"(f& +8 "core" &, \ ~ +3 .tSE.reconfigure :pick +3 "storage"(#]zK-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(5' +271 "core" ' +2 "storage"(C- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (|& +2 "core" &, $\ | +2 "manipulator"&& +4 "core" &Q ] ]  + .tElbow.seek 4 + "manipulator"&/(H +4 "core" ( + "manipulator"&H& +4 "core" &Q i g & + "storage"(& +4 "core" &, \ } +2 .tForearm.seek 4 + 300 counts + "manipulator"&A'q +26 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(n'w +7 "core" &Q t * + "manipulator"&]% +4 "core" % p h a   +2 .tForearm.seek :retract + "manipulator"&I'\ Z +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +169 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +79 "core" ( +3 "manipulator"&L& +4 "core" &\ \ j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &\ p _ j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'s +91 "core" ' +2 "manipulator"&G& +5 "core" &\ g ` j +4 "manipulator"&% +8 "core" %u ] z } +2 "processing"%.& +9 "core" &\ \ +4 "processing"%& +9 "core" &=\ +4 &\ +4 .tPC.seek :closed +2 "processing"%~(Yy +8 "core" & \ +6 &\ 7 +9 & G \ 1 +102 &2o\ E +6 &u \ O +2 &i\ N +20 & Vk\ O +2 &"h\ O +2 &#k\ O +2 &%f\ N +2 &'_e \ N +2 &)!d\ N +6 &*f\ N +4 &,j\ N + &.ge\ N + &0)f\ N +2 &1d\ O +2 &3b\ N +4 &5of\ N +2 &71b\ N +6 &8e\ N +10 &:h\ O +9 &8e\ O +9 &?b\ N +9 &Ag\ N +10 &Ci\ N +8 &EAg\ N +9 &Gj\ O +10 &Hi\ O +9 &Jn\ O +10 &LDw\ P +9 &N\ Q +9 &O\ T +10 &Q}\ T +9 &S?\ T +9 &T\ U +10 &V\ V +9 &Xh}{\ : +10 &Y8)v\ R +9 &Y[%\ / +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 5/24 samples, on/off torque 1.57 + .Hand.open + "manipulator"&\\1 +64 "core" 1 +2 "manipulator"&K% +4 "core" % | g k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&h'\ Z +92 "core" ' +4 .tSC.coast + "storage"(6 +5 "processing"%!& +8 "core" &Y[#4\ / +4 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&{% +8 "core" %\ ] ] _ } +2 "storage"((% +8 "core" % \ | +2 "storage"( . +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 5 +2 "storage"(e(< +187 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 ( & +4 "core" &< \ { + "manipulator"&V& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]K-0-\ b +2 "core" &\ q |  j +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( +3 "storage"(m' +3 "core" ( + "manipulator"&0& +4 "core" &\ q } j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &\ f o x j +2 .tForearm.seek PC + "manipulator"&Q's +91 "core" ' +3 .tPC.seek :sealed + "processing"%(Ni +96 "core" ( +2 .tHand.close + "manipulator"&R/ +53 "core" ' +2 "storage"(\ - +3 "core" -' + / +2 ."raiseStack"SE.configure :default +3 .tPC.seek :open +3 "storage"(#QK-0-\ b +2 "processing"%x(u +4 ."raiseStack"SE.seek :place +2 "storage"(M' +26 "core" ' +286 ( + "storage"(s& +4 "core" &< \ z +2 "manipulator"&)& +3 "core" &\ r X j +2 "manipulator"&% +3 "core" % χ c p +2 .tForearm.seek :retract +2 "manipulator"&%'\ Z +91 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +2 "manipulator"&l( +251 "core" ( +2 "manipulator"&`& +4 "core" & o - , + "storage"(7& +4 "core" &< \ z + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts + "manipulator"&a'ϑ +93 "core" ' +2 .tHand.open +3 "manipulator"&+1 +55 "core" 1 +4 "storage"(:- +8 "core" -' +4 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"(O'l +25 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.78 Pucks below Top Plate +4 "storage"('t +50 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(9- +6 "core" -'t + "storage"([& +4 "core" &< c \\\ q + "manipulator"&Y& +4 "core" &  ^ ] + + .tElbow.seek 5 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&-& +3 "core" &  i c + +2 "storage"(&& +3 "core" &< ` d\ q +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&6'ϑ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.07 Pucks below Top Plate + "storage"(4' +56 "core" ' +2 "manipulator"&#& +4 "core" &  ] _ + + "storage"(E& +4 "core" &< \ | + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&'q +33 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(S' +21 "core" ' +2 "manipulator"&D% +5 "core" %̀  + "storage"($& +4 "core" &< )\ y + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&1'ͬ +14 "core" ' +2 "manipulator"&F& +4 "core" &  g i  + +2 "storage"(<& +4 "core" &< \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"&"'ϑ +20 "core" ' +2 "storage"(d% +4 "core" % g\ } +2 ."downElevator"SE.seek :down +3 "storage"('w +100 (j% +3 "core" %R \ yTX + "manipulator"&?% +6 "core" %ϡ j i $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +90 "core" ' +62 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 (N& +4 "core" &< \ ~ + "collection"'8& +4 "core" &Y3~|\ w; +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&k% +4 "core" %\ f b ]  + "storage"(% +4 "core" % \ ~ + "storage"(g. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"((< +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (u& +2 "core" &< \ } +2 "manipulator"&v& +3 "core" &  g ]  + +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&t& +4 "core" &  h j + + "storage"(& +4 "core" &< t\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts + "manipulator"&'ϑ +110 "core" ' +2 "storage"(& +4 "core" &< D\ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(X' +262 "core" ' +4 "storage"(U- +5 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&*& +3 "core" &\  l g \ * + "storage"(T& +4 "core" &< N\ } + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&''q +37 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(_- +3 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"( ' +28 "core" ' +2 "manipulator"&% +4 "core" %̅ * + "storage"(2& +3 "core" &< \ z +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&3'ͱ +13 "core" ' +2 "manipulator"&J& +4 "core" &  d j ) + "storage"(>& +4 "core" &< \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&'ϑ +28 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate +2 "storage"(' +40 "core" ' +2 "manipulator"&q& +4 "core" &  h j = ) +3 "manipulator"&,% +7 "core" %Ϧ ` ] +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ Z +92 "core" ' +4 .tElbow.seek CC +2 "manipulator"&p(S +154 "core" ( +2 "manipulator"&}& +4 "core" &X j k # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &X ^ j } # + .tForearm.seek CC +2 "manipulator"&' +97 "core" ' +3 .tCC.seek :sealed + "collection"'=(P +90 "core" ( +4 .tHand.close +2 "manipulator"&z/ +52 "core" / +2 .tCC.seek :open + "collection"'b( +329 "core" ( +2 "storage"(f& +4 "core" &< \ } + "storage"(;& +3 "core" &< K\ } +2 "manipulator"&B& +3 "core" &Y  "~ +2 "manipulator"&C% +3 "core" %  7 +2 .tForearm.seek :retract + "manipulator"&|'\ Z +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +72 "manipulator"&( +158 "core" ( +2 "manipulator"&H& +4 "core" & o z S  + "storage"(& +4 "core" &< y\ ~ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&P'q +110 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&]1 +59 "core" 1 +2 "manipulator"& % +4 "core" %   +2 "storage"(& +4 "core" &< \ { + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&5'ͫ +12 "core" ' +4 "manipulator"&A& +8 "core" & i `  +2 "storage"(L& +8 "core" &< \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 800 counts +4 "manipulator"&'ϑ +25 "core" ' +4 "storage"(/% +8 "core" %! \  +4 ."downElevator"SE.seek :down +6 "storage"(G'w +98 (% +3 "core" %R \ ~TW + "manipulator"&.% +4 "core" %ϐ ^ a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ Z +90 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 5 to 6 of [1..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'I& +5 "core" &\ z + "manipulator"&c% +4 "core" %\ Z i \\ p + "storage"(\\% +4 "core" % \ + "storage"(K. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(!(< +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 ({& +3 "core" &<  \  +2 "manipulator"&& +3 "core" & _ f =  +2 .tElbow.seek 5 +2 "manipulator"&(( +7 "core" ( +2 "manipulator"& & +4 "core" & k g  + "storage"(& +4 "core" &< $  0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"& 'ϑ +95 "core" ' +4 "storage"(V& +9 "core" &<  \  +2 .tSE.reconfigure :pick +3 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(0' +277 "core" ' +2 "storage"(i- +3 "core" -'| + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" &< \ ~ + "manipulator"&R& +4 "core" & j k '  + .tElbow.seek 5 +2 "manipulator"&\ ( +3 "core" ( + "manipulator"&& +3 "core" & i f   +2 "storage"(h& +3 "core" &< =\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&~'͝ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(s'w +7 "core" &  J  +2 "manipulator"&)% +4 "core" % ͝ ` y +2 .tForearm.seek :retract + "manipulator"&'\ Z +95 "core" ' +4 .tElbow.seek CC +2 "manipulator"&Q(S +151 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +5 "core" ( +2 "manipulator"&`& +4 "core" &^\ o l l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &^\ q  > l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&' +95 "core" ' +2 "manipulator"&+& +4 "core" &^ l + "manipulator"&:% +4 "core" % x ] +2 "collection"'9& +3 "core" &\ y +2 "collection"'[& +5 "core" &\ y +2 .tCC.seek :closed + "collection"'Y(Y +4 "core" &\ y +9 &.\ w$d +9 &U\ s7 +10 &#\ tL +9 &\\\ uN +9 &a\ uN +10 & __\ uO +10 &""]\ uN +10 &#[\ uN +9 &%^\ uO +9 &'i]\ uN +10 &)*_\ uN +9 &*\\\ uN +9 &,_\ uN +10 &.q_\ uN +9 &03_\ uN +10 &1^\ uN +9 &3]\ uN +9 &5y^\ uN +10 &7;_\ tN +9 &8_\ uN +9 &:_\ tN +10 &<\\\ uN +9 &>A`\ uO +10 &@_\ uN +9 &A_\ uO +9 &C]\ tN +10 &EK^\ uN +9 &G ]\ uN +9 &Hb\ tN +9 &Jm\ tP +9 &LMn\ tP +10 &N\ x\ tR +9 &O\ sU +9 &Q}~{\ qX +10 &S;~|\ qY +9 &T~{\ qZ +9 &V|\ pZ +10 &X}|}\ pG +9 &Y>}{\ qa +10 &Yy{\ tP +5 ( +3 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 4/25 samples, on/off torque 2.01 + .Hand.open + "manipulator"&-1 +3 "core" &Yy|z\ tP +53 1 + "manipulator"&&% +4 "core" %  f k  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ Z +98 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%#& +4 "core" &\ +2 "manipulator"&E% +3 "core" %\ [\ n y (  +2 "storage"(D% +6 "core" % U\ | +2 "storage"(M. +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +5 .tSC.seek 5 +2 "storage"($(< +4 "core" ( +4 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (F& +8 "core" &< \ { +2 "manipulator"&<& +8 "core" &^\ j ` l +2 "manipulator"&O% +8 "core" %\ [\ h ^ U  +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&d( +155 "core" ( +2 "manipulator"&l& +4 "core" & i e  + "storage"(a& +4 "core" &< \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts + "manipulator"&'ϑ +90 "core" ' +2 "storage"(j& +4 "core" &< \ } + .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?' +262 "core" ' +4 "storage"(6- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (y& +4 "core" &< \ | +4 "manipulator"&4& +7 "core" & k j -  +3 .tElbow.seek 5 +2 "manipulator"&( +6 "core" ( +4 "manipulator"&1& +6 "core" & _ \\   +3 "storage"(N& +7 "core" &< -\ | +4 .tForearm.seek 5 + 300 counts +2 "manipulator"&8'͝ +30 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&k/ +55 "core" / +6 ."downElevator"SE.seek :down +8 "manipulator"&& +6 "storage"(g'w +8 "core" & c j a  +2 "manipulator"&S% +8 "core" % ͟ c \\ M " +2 .tForearm.seek :retract + "manipulator"&u'\ Z +92 "core" ' +2 .tElbow.seek PC + "manipulator"&v( +159 "core" ' +3 ."downElevator"SE.coast +3 "storage"(5 +80 "core" ( +4 "manipulator"&t& +6 "core" & o  t w +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 && +5 "core" & o  w +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +2 "manipulator"&"'s +98 "core" ' +2 "manipulator"&& +4 "core" & U w + "manipulator"&% +4 "core" %p b \\ \\ +2 "processing"%e& +3 "core" &A\ +2 "processing"% & +5 "core" &@\ +2 .tPC.seek :closed + "processing"%(Yy +4 "core" &\  +10 &2\ *x +9 &a\ > +9 &A\ O +10 &h\ \ O +9 &e\ N +9 &!g\ N +10 &#Jg\ N +9 &% e \ N +10 &&g \ N +9 &(c\ N +9 &*Qh \ O +10 &,c\ \ N +9 &-d\ O +10 &/d\ O +9 &1Yc \ O +9 &3e\ O +10 &4g\ N +9 &6d\ N +9 &8ah \ O +10 &:#d\ O +9 &;g \ N +10 &=c\ N +10 &?je\ N +10 &A,g\ N +9 &Bh\ N +9 &Df\ N +9 &Fqh \ O +10 &H4i\ N +9 &Ik\ O +10 &Ky\ P +8 &Msz \ Q +9 &O-\ T +10 &P\ U +9 &R\ T +9 &To\ U +10 &V1\ U +9 &W\ C +10 &YB{\ _ +9 &Y[,\ + +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.56 + .Hand.open + "manipulator"&U1 +3 "core" &Y[ \ + +56 1 + "manipulator"&*% +5 "core" % p w X  \\ + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ Z +92 "core" ' +2 .tSC.coast "storage"(6 +3 "processing"%_& +4 "core" &Y[ 0\ + + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\ O m p d + "storage"(2% +4 "core" % \ { + "storage"(J. +51 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(>(L2 +184 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +5 (q& +2 "manipulator"&,& +16 "core" &L0 \ z +4 & p z 2 w +6 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +3 "storage"(#]K-0-\ b +5 .tElbow.seek PC +8 "manipulator"&( +6 ."raiseStack"SE.seek :beamBreak +4 "storage"(' +4 "core" ( +4 "manipulator"&X& +8 "core" & \\ \\ w +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &'& +8 "core" & ^ g w +3 .tForearm.seek PC +3 "manipulator"&3's +92 "core" ' +3 .tPC.seek :sealed + "processing"% (Ni +99 "core" ( +2 .tHand.close + "manipulator"&}/ +28 "core" ' +2 "storage"(^- +3 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(' +23 "core" / +2 .tPC.seek :open +2 "processing"%Z(u +4 "core" ' +312 ( +2 "storage"(z& +3 "core" &L0 \ x +2 "manipulator"&& +3 "core" & q k  w +2 "manipulator"&% +4 "core" % χ ] ` 1 + .tForearm.seek :retract +2 "manipulator"&='\ Z +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&f(! +248 "core" ( +2 "manipulator"&;& +4 "core" & ] x D ( + "storage"(B& +4 "core" &L0 \ y + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts + "manipulator"&C'c +90 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(H- +3 "core" -' +3 .tSE.seek -0.19 Pucks below Top Plate + "storage"('l +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.78 Pucks below Top Plate +2 "storage"(p't +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +3 "core" -'t +2 "storage"( & +3 "core" &L0 S K \ o +2 "manipulator"&& +3 "core" & c ` ' +2 .tElbow.seek 6 +2 "manipulator"&A(! +3 "core" ( +2 "manipulator"&L& +4 "core" & m ? ' + "storage"(/& +4 "core" &L0 T K >\ o +2 .tForearm.seek 6 + 800 counts + "manipulator"&|'c +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.07 Pucks below Top Plate + "storage"(' +57 "core" ' +2 "manipulator"&.& +6 "core" & _ \\ ' +4 "storage"(& +8 "core" &L0 \ { +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +2 "manipulator"&P'C +38 "core" ' +4 .tElbow.hold +2 "manipulator"&5, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +4 .tSE.seek 0.12 Pucks below Top Plate +3 "storage"(I' +22 "core" ' +4 "manipulator"&c% +8 "core" %M  +2 "storage"(\\& +8 "core" &L0 o n %\ x +4 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 310 counts +3 "manipulator"&K'y +19 "core" ' +4 "manipulator"&& +8 "core" & i `  ' +3 "storage"({& +7 "core" &L0 \ { +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 800 counts +4 "manipulator"&'c +20 "core" ' +4 "storage"( % +5 "core" % \ { +2 ."downElevator"SE.seek :down +3 "storage"('w +100 (% +4 "core" %UQ o m '\ xTY +2 "manipulator"&V% +4 "core" %b ] ^ \ Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ Z +91 "core" ' +59 ' +2 ."downElevator"SE.coast +2 "storage"(5 +6 .tSC.coast +2 "storage"(6 +4 (& +8 "core" &L0 \ } +2 "collection"'W& +8 "core" &Yx|z\ uP +3 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&n% +8 "core" %\ \\ ^ ]  +4 "storage"(i% +6 "core" % \ } +4 "storage"(o. +4 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 6 +2 "storage"(R(L2 +4 "core" ( +4 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (& +8 "core" &L0 $\ | +2 "manipulator"&h& +8 "core" & h ] & +2 .tElbow.seek 6 +4 "manipulator"&(! +6 "core" ( +4 "manipulator"&m& +8 "core" & ] ^ & +2 "storage"()& +8 "core" &L0 \ | +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +4 "manipulator"&('c +97 "core" ' +2 "storage"( & +4 "core" &L0 \ } +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(`' +262 "core" ' +4 "storage"(7- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&0& +6 "core" & ` e  & +2 "storage"(~& +8 "core" &L0 \ | +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +3 "manipulator"&+'C +39 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(9- +3 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(\ ' +28 "core" ' +2 "manipulator"&s% +4 "core" %R  + "storage"(& +4 "core" &L0 m n\ x + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&b'~ +16 "core" ' +2 "manipulator"&-& +4 "core" & g W & + "storage"(&& +4 "core" &L0 \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&#'c +21 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(E' +39 "core" ' +2 "manipulator"&D& +4 "core" & c ^ & + "manipulator"&M% +4 "core" %g d { M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ Z +89 "core" ' +3 .tElbow.seek CC +2 "manipulator"&F(S +153 "core" ( +2 "manipulator"&<& +4 "core" &S ` h  # + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &S g ] # +2 .tForearm.seek CC + "manipulator"&' +102 "core" ' +6 .tCC.seek :sealed +2 "collection"'l(P +95 "core" ( +2 .tHand.close + "manipulator"&a/ +61 "core" / +2 .tCC.seek :open + "collection"'!( +329 "core" ( +2 "storage"(j& +3 "core" &L0 \ ~ +2 "storage"(Q& +3 "core" &L0 \ ~ +2 "manipulator"&%& +3 "core" &U  # +2 "manipulator"&6% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&y'\ Z +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&4(! +151 "core" ( +4 "manipulator"&1& +8 "core" &* S  +2 "storage"(N& +8 "core" &L0 \  +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +4 .tForearm.seek 6 +3 "manipulator"&k'C +108 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&S1 +57 "core" 1 +2 "manipulator"&d% +4 "core" % V 9 + "storage"(& +5 "core" &L0 \ } + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts + "manipulator"&?'΂ +19 "core" ' +2 "manipulator"&8& +4 "core" &* e Y '  + "storage"(t& +4 "core" &L0  $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +47 "manipulator"&'c +24 "core" ' +2 "storage"(% +4 "core" %!  \ +2 ."downElevator"SE.seek :down +3 "storage"('w +99 (% +3 "core" %^Q X\ }TX + "manipulator"&e% +4 "core" %] i k u ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ Z +93 "core" ' +54 ' +2 ."downElevator"SE.coast +3 "storage"(5 +5 .tSC.coast +2 "storage"(6 +5 #tShuffling two pucks from tube 6 to 7 of [1..7] +3 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'u& +8 "core" &\ z +2 "manipulator"&x% +8 "core" %\ R j j `  +4 "storage"(U% +8 "core" %y \ +2 "storage"(*. +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 6 +2 "storage"(_(L2 +4 "core" ( +4 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (& +6 "core" &L0 B r\  +3 "manipulator"&2& +7 "core" &* \\ \\   +4 .tElbow.seek 6 +3 "manipulator"&J(! +7 "core" ( +3 "manipulator"& & +8 "core" &* j j 3  +2 "storage"("& +8 "core" &L0  H \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 800 counts +2 "manipulator"&q'c +106 "core" ' +2 "storage"(,& +4 "core" &L0  0 &\  +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"($' +277 "core" ' +4 "storage"(X- +6 "core" -'| +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 ('& +4 "core" &L0 \  +4 "manipulator"&^& +6 "core" &* b ` 2  +4 .tElbow.seek 6 +2 "manipulator"&v(! +6 "core" ( +4 "manipulator"&}& +8 "core" &* k m ]  +4 "storage"(T& +6 "core" &L0 \ ~ +4 .tForearm.seek 6 + 300 counts +2 "manipulator"&'o +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(z'w +7 "core" &* o }  + "manipulator"&% +4 "core" % l ' +2 .tForearm.seek :retract + "manipulator"&'\ Z +93 "core" ' +2 .tElbow.seek CC + "manipulator"&3(S +154 "core" ' +4 ( + ."downElevator"SE.coast +2 "manipulator"&;& + "storage"(5 +7 "core" &V m  !t + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &V  !t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&' +93 "core" ' +3 "manipulator"&& +4 "core" &V  !t +2 "manipulator"&H% +4 "core" %  M + "collection"']& +4 "core" &\ y +2 "collection"' & +5 "core" &\ y +2 .tCC.seek :closed + "collection"'(Y +5 "core" &\ y +7 &-\ w$e +10 &U\ t7 +9 &$\ sL +9 &\\\ uN +10 &_\ uN +9 & c_\ uN +10 &"%[\ uN +9 &#_\ uN +9 &%b\ uN +10 &'k]\ uN +9 &)-`\ uN +9 &*]\ uN +10 &,_\ uM +9 &.s_\ uN +10 &05b\ uN +9 &1^\ uN +9 &3Z\ uN +10 &5{\\\ uN +9 &7=]\ uN +9 &8_\ uN +10 &:`\ uN +9 &<]\ uN +10 &>E_\ uN +9 &@_\ uN +9 &A_\ uN +10 &C\\\ uN +9 &EN_\ uM +9 &G_\ uN +10 &Hc\ uN +9 &Jm\ tO +10 &LPo\ tO +9 &N |\ tQ +9 &O\ rT +10 &Q~|\ qX +9 &S=}\ qY +9 &T}{\ qY +10 &V~~\ pZ +10 &X~|\ pF +10 &Y~8~|\ r#j +9 &Yo~|\ tI +5 ( +4 "collection"' & +6 #tCollection Clamp onSpring/offSpring for 4/25 samples, on/off torque 2.01 +2 .Hand.open +2 "manipulator"&L1 +6 "core" &Yl{}\ tI +59 1 +2 "manipulator"&/% +8 "core" %  r M K +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&='\ Z +98 "core" ' +2 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%.& +5 "core" & \ + "manipulator"&% +4 "core" %\ v \\ a _ + "storage"(% +4 "core" % \ } + "storage"(c. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 + "storage"((L2 +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (\\& +3 "core" &L0 \ | + "manipulator"&& +4 "core" &W ] ] !s + "manipulator"&{% +4 "core" %\ v k a  _ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&f(! +155 "core" ( +4 "manipulator"&C& +8 "core" &( c ^ #  +2 "storage"(p& +8 "core" &L0 p\ } +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 800 counts +2 "manipulator"& 'c +99 "core" ' +4 "storage"(|& +8 "core" &L0 \ } +3 .tSE.reconfigure :pick +3 "storage"(#]zK-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(' +262 "core" ' +2 "storage"(V- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" &L0 \ { + "manipulator"&& +4 "core" &( _ e  + .tElbow.seek 6 +2 "manipulator"&P(! +4 "core" ( + "manipulator"&K& +3 "core" &( ` f  +2 "storage"(& +3 "core" &L0 \ | +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'o +19 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(i'w +7 "core" &( i f q  + "manipulator"&o% +4 "core" % t l m < + .tForearm.seek :retract +2 "manipulator"&'\ Z +91 "core" ' +2 .tElbow.seek PC + "manipulator"&h( +163 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +78 "core" ( +2 "manipulator"&m& +4 "core" &\  { '  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &\  l o  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'s +90 "core" ' +2 "manipulator"& & +4 "core" &\  k l  + "manipulator"&% +4 "core" %n n a m +2 "processing"%>& +4 "core" &\ +2 "processing"%5& +8 "core" &\ +6 .tPC.seek :closed +2 "processing"%G(Yy +9 "core" &\ +2 & \  +6 &2\ *y +9 &c\ ? +10 &I\ O +9 &\ j\ O +9 &e\ O +10 &!j\ O +9 &#Qh \ O +9 &%c \ O +10 &&e\ O +9 &(f\ N +10 &*Yj\ \ O +9 &,d \ N +9 &-e\ N +10 &/k \ O +9 &1bc\ \ N +9 &3#e \ O +10 &4e \ O +9 &6b\ N +10 &8jf\ N +9 &:,b \ N +9 &;g\ O +10 &=g\ N +9 &?rd\ N +9 &A2i\ O +9 &Bb\ N +9 &De\ O +10 &Fzg\ N +9 &H;e\ O +9 &Io\ O +10 &Ky\ P +9 &M|{\ \ P +9 &O4 \ T +10 &P\ U +9 &R \ U +10 &Tu\ \ U +9 &V8 \ U +9 &W\ C +10 &Y ;v\ (t +9 &Ya) \ ( +5 ( +2 "processing"%5& +4 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.54 + .Hand.open + "manipulator"&71 +3 "core" &Ya\ ( +53 1 + "manipulator"&0% +4 "core" % r h V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ Z +95 "core" ' +4 .tSC.coast + "storage"(6 +5 "processing"%9& +8 "core" &Ya\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&s% +8 "core" %\  i k T F +2 "storage"(% +8 "core" % =\ } +2 "storage"(-. +6 "core" . +4 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 7 +2 "storage"(&([ +186 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (D& +4 "core" &[ \ { + "manipulator"&M& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]K-0-\ b +2 "core" &\  f ` 1  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"((' +3 "manipulator"&( +3 "core" ( +2 "manipulator"&`& +3 "core" &\  k h   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +2 "core" &\  i h  +2 .tForearm.seek PC +2 "manipulator"&b's +91 "core" ' +4 .tPC.seek :sealed +4 "processing"%\ (Ni +93 "core" ( +50 .tHand.close + "manipulator"&\ } + "collection"'& +4 "core" &Yk|z\ vI +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&g% +4 "core" %\ V d c  + "storage"(X% +4 "core" % \ } + "storage"('. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(^([ +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (}& +3 "core" &[ \ } + "manipulator"&T& +4 "core" & ` b  +2 .tElbow.seek 7 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & g `  +2 "storage"(& +3 "core" &[ R\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts + "manipulator"&J'H +100 "core" ' +2 "storage"(q& +4 "core" &[ \ } +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(;' +261 "core" ' +2 "storage"(B- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" & ^ _  + "storage"(& +4 "core" &[ \ | + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'( +36 "core" ' +2 .tElbow.hold + "manipulator"&H, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"(v' +28 "core" ' +2 "manipulator"&z% +4 "core" %8  + "storage"(& +3 "core" &[ 4\ y +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&!'d +17 "core" ' +2 "manipulator"&L& +4 "core" & _ g  + "storage"(/& +4 "core" &[ \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&.'H +21 "core" ' +4 .tSE.seek 1.14 Pucks below Top Plate +4 "storage"( ' +39 "core" ' +4 "manipulator"&& +8 "core" & _ g  +2 "manipulator"&% +8 "core" %R ^ c G +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&c'\ Z +98 "core" ' +2 .tElbow.seek CC + "manipulator"&\\(S +160 "core" ( +2 "manipulator"&& +5 "core" &] d c ? "z + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &] ] ^  "z +2 .tForearm.seek CC + "manipulator"&' +99 "core" ' +3 .tCC.seek :sealed + "collection"'C(P +98 "core" ( + .tHand.close +2 "manipulator"&p/ +62 "core" / +2 .tCC.seek :open + "collection"'_( +332 "core" ( +2 "storage"(|& +4 "core" &[ l\ ~ + "storage"(3& +3 "core" &[ \ ~ +2 "manipulator"&=& +3 "core" &]  "z +2 "manipulator"&V% +3 "core" %  \ +2 .tForearm.seek :retract + "manipulator"&A'\ Z +97 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +2 "manipulator"&( +150 "core" ( +2 "manipulator"&K& +4 "core" & p   + "storage"(& +4 "core" &[ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 7 + "manipulator"&I'( +108 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&o1 +54 "core" 1 +4 "manipulator"&f% +8 "core" % ; +5 "storage"( & +7 "core" &[ '\ } +2 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 7 + 319 counts +2 "manipulator"&'g +18 "core" ' +4 "manipulator"&W& +8 "core" & j i   +2 "storage"(m& +8 "core" &[  c\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 800 counts +2 "manipulator"&)'H +23 "core" ' +4 "storage"(P% +8 "core" %#  \  +4 ."downElevator"SE.seek :down +6 "storage"( 'w +97 (% +3 "core" %P \ }TW + "manipulator"&>% +4 "core" %Q i k : I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ Z +91 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 7 to 1 of [1..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +4 "core" &\ z +2 "manipulator"&Z% +3 "core" %\ [ ^ d  +2 "storage"(7% +3 "core" %  \ +2 "storage"(0. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(9([ +3 "core" ( +2 .tSC.reconfigure :loose +48 "storage"($.(\ 1~b +3 (s& +3 "core" &[ t \  +2 "manipulator"&& +3 "core" & c ` 4  +2 .tElbow.seek 7 + "manipulator"&5( +4 "core" ( +3 "manipulator"&-& +8 "core" & k e  +2 "storage"(& +11 "core" &[  \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts +4 "manipulator"&D'H +95 "core" ' +2 "storage"(M& +4 "core" &[   9\  +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(`' +276 "core" ' +2 "storage"(+- +3 "core" -'x + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ \ ~ +2 "manipulator"&O& +4 "core" & ] ]   + .tElbow.seek 7 +2 "manipulator"&h( +3 "core" ( + "manipulator"&<& +3 "core" & k g   +2 "storage"(~& +3 "core" &[ =\ ~ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&G'T +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +89 "core" / +3 ."downElevator"SE.seek :down +7 "manipulator"&\ & +4 "storage"(a'w +17 "core" & q l   +3 "manipulator"&[% +8 "core" % ^ g d 3 +4 .tForearm.seek :retract +2 "manipulator"&Y'\ Z +95 "core" ' +4 .tElbow.seek CC +2 "manipulator"&b(S +142 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +13 "core" ( +2 "manipulator"&Q& +4 "core" &S 1 "y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &S  "y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&' +103 "core" ' +2 "manipulator"&1& +7 "core" &T  "x +3 "manipulator"&N% +8 "core" %  ! +4 "collection"'S& +8 "core" &\ y +4 "collection"'d& +8 "core" &\ y +6 .tCC.seek :closed +4 "collection"'(Y +8 "core" &\ y +2 &\ x +6 &51z\ s*z +8 &6e\ r? +10 &{\ sO +9 &y_\ uN +9 &;^\ tN +10 & ]\ tN +9 &"`\ tN +9 &$\\\ uM +10 &&D]\ tN +9 &(Z\ uN +9 &)^\ tN +10 &+]\ tM +9 &-L]\ tN +10 &/]\ uM +9 &0_\ tN +9 &2`\ tN +10 &4U`\ tM +9 &6]\ uM +9 &7_\ tN +9 &9]\ uM +9 &;[]\ tN +10 &=]\ uN +9 &>^\ tN +9 &@b\ tN +10 &Be]\ uM +9 &D&]\ uN +10 &E\\\ uN +9 &G_\ uN +9 &Ihg\ tO +10 &K)h\ tO +9 &Lq\ tP +9 &N}\ sR +10 &P\\~~\ qV +9 &R~~\ pX +9 &S||\ pY +10 &U~|\ pZ +9 &WX}|\ pZ +10 &Xy}{\ q. +9 &Y)|{\ sF +8 ( +2 &Y<|z\ v= +2 "collection"'d& +2 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&t1 +52 "core" 1 +2 "manipulator"&y% +4 "core" %  t 2 " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ Z +94 "core" ' +3 .tSC.coast + "storage"(6 +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +4 "core" &@\ + "manipulator"&e% +4 "core" %\ q _ ] 5 + "storage"(#% +4 "core" % \ ~ + "storage"(x. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(E([ +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &[ }\ ~ +2 "manipulator"&*& +4 "core" &T d a "x + "manipulator"&% +4 "core" %\ q d _ 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&j( +155 "core" ( +2 "manipulator"& & +4 "core" & f V + "storage"(6& +4 "core" &[ p\ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts + "manipulator"&F'H +93 "core" ' +2 "storage"(& +4 "core" &[ \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]zK-0-\ b +3 .tSE.seek :beamBreak + "storage"(,' +261 "core" ' +4 "storage"(- +6 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (8& +4 "core" &[ \ | +4 "manipulator"&4& +6 "core" & c ] +4 .tElbow.seek 7 +2 "manipulator"&k( +6 "core" ( +3 "manipulator"&U& +7 "core" & ` c +2 "storage"(R& +8 "core" &[ O\ | +4 .tForearm.seek 7 + 300 counts +2 "manipulator"&'T +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&g/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(''w +7 "core" & a z  + "manipulator"&?% +4 "core" % R c f F +2 .tForearm.seek :retract + "manipulator"&}'\ Z +95 "core" ' +2 .tElbow.seek PC + "manipulator"&T( +168 "core" ' +3 ."downElevator"SE.coast +3 "storage"(5 +76 "core" ( +2 "manipulator"& & +5 "core" & q | h e + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & l } K e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&2's +105 "core" ' +2 "manipulator"&q& +4 "core" & ` f e +2 "manipulator"&"% +3 "core" %y i g  +2 "processing"%&& +4 "core" & \ +2 "processing"%u& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Yy +5 "core" &\ \  +10 &1\ *y +9 &b\ > +9 &:\ O +10 &e\ O +9 &d \ O +9 &!d\ O +10 &#Ac\ O +9 &%b\ N +10 &&e\ N +9 &(c\ N +10 &*Je\ N +10 &, d\ O +9 &-h\ O +9 &/j\ O +10 &1Qf\ O +9 &3h\ N +10 &4h\ O +9 &6e\ O +8 &8Yg\ O +10 &:b\ N +9 &;h \ N +9 &=b \ N +10 &?bc \ N +9 &A#g\ O +10 &Be \ N +9 &Df\ N +9 &Fke \ N +10 &H+i\ O +9 &Io \ O +9 &Kx\ \ P +10 &Mj}\ Q +9 &O%\ T +10 &P\ U +9 &R \ U +9 &Tf \ U +10 &V( \ U +9 &W\ D +9 &Y C{\ a +10 &Y\\1\ , +5 ( +2 "processing"%u& +4 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.55 + .Hand.open + "manipulator"&B1 +3 "core" &Y\\ \ , +50 1 + "manipulator"&$% +4 "core" % Ϛ g j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ Z +88 "core" ' +2 .tSC.coast + "storage"(6 +2 "processing"%]& +4 "core" &Y\\ >\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&z% +3 "core" %\ b _ c  s +2 "storage"(% +3 "core" % O\ | +2 "storage"(L. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(/( +971 "core" ( +4 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +5 (& +4 "manipulator"&& +15 "core" & \ { +2 & ] ] e +6 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&J( +2 "storage"(' +3 "core" ( +2 "manipulator"&;& +4 "core" & j j % e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & \\ _ e +2 .tForearm.seek PC +2 "manipulator"&!'s +98 "core" ' +3 .tPC.seek :sealed + "processing"%v(Ni +95 "core" ( +2 .tHand.close + "manipulator"&/ +51 "core" ' +2 / + .tPC.seek :open +3 "storage"({- +2 "processing"%.(u +7 "core" -' + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(H' +26 "core" ' +279 ( +4 "storage"(p& +7 "core" & \ { +3 "manipulator"&c& +7 "core" & u 5 e +3 "manipulator"&% +7 "core" % S r 7 E +3 .tForearm.seek :retract +4 "manipulator"&C'\ Z +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&|( +251 "core" ( +4 "manipulator"&3& +8 "core" & } g L E +2 "storage"(=& +8 "core" & \ { +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts +93 "manipulator"&V'R +99 "core" ' +2 .tHand.open + "manipulator"&K1 +54 "core" 1 +2 "storage"(- +3 "core" -' +3 .tSE.seek -0.19 Pucks below Top Plate + "storage"('l +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"(\\'t +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(o- +3 "core" -'t +2 "storage"(f& +4 "core" & @ @\ p + "manipulator"& & +4 "core" & _ g D +2 .tElbow.seek 1 + "manipulator"&W( +4 "core" ( + "manipulator"&m& +4 "core" & V [ D +2 "storage"(P& +3 "core" & A @\ p +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&A'R +17 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.07 Pucks below Top Plate +6 "storage"(' +55 "core" ' +2 "manipulator"&>& +4 "core" & c ` D + "storage"(& +4 "core" & \ | +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&I'2 +37 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(' +21 "core" ' +2 "manipulator"&Z% +4 "core" %@   + "storage"(7& +4 "core" & \ y +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 314 counts + "manipulator"&0'l +19 "core" ' +3 "manipulator"& & +4 "core" & _ f C +2 "storage"(s& +4 "core" & !\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'R +22 "core" ' +2 "storage"(-% +4 "core" % \ | +2 ."downElevator"SE.seek :down +4 "storage"('w +99 ()% +3 "core" %Q \ yTY + "manipulator"&M% +4 "core" %[ f ] M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ Z +87 "core" ' +74 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 (^& +3 "core" & \ } +2 "collection"'n& +4 "core" &Y;{y\ w= +4 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&i% +7 "core" %\ g b d y +4 "storage"(+% +10 "core" % \ ~ +3 "storage"(. +6 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 1 +2 "storage"(O( +4 "core" ( +4 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (<& +6 "core" & b\ ~ +2 "manipulator"&~& +8 "core" & h _ B +4 .tElbow.seek 1 +2 "manipulator"&(( +6 "core" ( +2 "manipulator"&\ & +8 "core" & \\ _ B +4 "storage"([& +6 "core" & \ ~ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 800 counts +4 "manipulator"&5'R +89 "core" ' +4 "storage"(D& +8 "core" & &\ ~ +4 .tSE.reconfigure :pick +4 "storage"(#]zK-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(Q' +266 "core" ' +4 "storage"(`- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&%& +6 "core" & \\ \\ B +2 "storage"(G& +8 "core" & \ | +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +3 "manipulator"&1'2 +29 "core" ' +4 .tElbow.hold +2 "manipulator"&N, +6 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"(h- +6 "core" -' +4 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(S' +30 "core" ' +4 "manipulator"&a% +8 "core" %E  0 +2 "storage"(Y& +8 "core" & \ { +2 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 1 + 319 counts +2 "manipulator"&_'q +17 "core" ' +2 "manipulator"&t& +4 "core" & i c H A +2 "storage"(y& +3 "core" & w\ ~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts + "manipulator"&'R +20 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +2 "storage"(e' +36 "core" ' +2 "manipulator"&#& +4 "core" & d e A + "manipulator"&x% +4 "core" %R d c = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +86 "core" ' +2 .tElbow.seek CC + "manipulator"&d(S +153 "core" ( +4 "manipulator"&*& +5 "core" &^\ j ` * j + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &^\ i a j +2 .tForearm.seek CC +2 "manipulator"&' +101 "core" ' +3 .tCC.seek :sealed + "collection"' (P +93 "core" ( +3 .tHand.close + "manipulator"&6/ +54 "core" / +2 .tCC.seek :open + "collection"'9( +332 "core" ( +4 "storage"(& +7 "core" & \ ~ +3 "storage"(b& +6 "core" & \ ~ +4 "manipulator"&l& +6 "core" &_  i +4 "manipulator"&% +8 "core" % s +3 .tForearm.seek :retract +3 "manipulator"&8'\ Z +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&4( +148 "core" ( +2 "manipulator"&U& +4 "core" & f Y + "storage"(R& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&g'2 +103 "core" ' +4 .tElbow.hold +2 "manipulator"&X, +6 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator"&?1 +53 "core" 1 +2 "manipulator"&j% +4 "core" % F 9 ! +2 "storage"(F& +4 "core" & \ } + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 320 counts +2 "manipulator"&,'r +18 "core" ' +2 "manipulator"&& +4 "core" & W g +2 "storage"( & +3 "core" &   .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'R +28 "core" ' +2 "storage"(k% +4 "core" %( j\ ~ +2 ."downElevator"SE.seek :down +3 "storage"(q'w +99 ("% +3 "core" %=O O\ }TX +2 "manipulator"&&% +4 "core" %V ` h % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ Z +98 "core" ' +50 ' + ."downElevator"SE.coast +2 "storage"(5 +2 .tSC.coast + "storage"(6 +14278 "Can"w\ b++q +60003 8v\ b++ +60003 `w\ b--y +60002 |w\ b++w +60003 u\ a++ +60002 v\ b++t +60003 v\ a-,} +60002 w\ a++ +6602 #t-> CS + "collection"'}% +4 "core" %3\ { +383 #t-> CSV.stop + .CSV.stop + "collection"': +4 "core"  +414 #t-> CSV.stop + .CSV.stop + "collection"'B +4 "core"  +1672 #t-> CSV.stop + .CSV.stop + "collection"'$ +4 "core" +193 #t-> CSV.stop + .CSV.stop + "collection"'] +4 "core" +607 #t-> CSV.stop + .CSV.stop + "collection"'z +5 "core" +2122 #t-> CSV.stop + .CSV.stop + "collection"' +4 "core" +863 #t-> CSV.methods +2356 #-> CSV.postion +2 !o:NoMethodError : mesgu:NameError::message-undefined method `postion' for CSV:Shaft: name: postion: args[:bt[ "9/home/brent/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):59:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +548 #-> CSV.position +890 #-> CSV.jog 0 +2 !o:NoMethodError : mesgu:NameError::message)undefined method `jog' for CSV:Shaft: name:jog: args[i:bt[ "9/home/brent/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):61:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +9764 #-> CSV.to waste1 +2 .CSV.dial :waste1 +369 #-> CSV.to waste2 +2 .CSV.dial :waste2 + "collection"'L +99 "core"  +1083 #t-> CSV.to waste2 +2 .CSV.dial :waste2 +425 #-> CSV.stop + .CSV.stop + "collection"'u +4 "core"  +421 #t-> CSV.to waste1 +2 .CSV.dial :waste1 + "collection"'2 +99 "core" +769 #t-> CSV.to waste2 +2 .CSV.dial :waste2 + "collection"'E +100 "core"  +816 #t-> CSV.to waste1 +2 .CSV.dial :waste1 + "collection"' +100 "core" +1016 #t-> CSV.to waste2 +2 .CSV.dial :waste2 + "collection"' +100 "core"  +7326 #t-> CTV.to waste +2 .CTV.dial :waste +2 !o:Axis::Error : mesg"1Unknown Collection Top Valve position: waste:@checkpoint: omitted:@axisName"Collection Top Valve:bt["2/home/brent/esp2/lib/axis.rb:501:in `baseRaw'"./home/brent/esp2/lib/axis.rb:294:in `raw'"3/home/brent/esp2/lib/axismap.rb:171:in `fetch'"3/home/brent/esp2/lib/axismap.rb:159:in `fetch'"0/home/brent/esp2/lib/axis.rb:278:in `fetch'"./home/brent/esp2/lib/axis.rb:289:in `raw'"0/home/brent/esp2/lib/axis.rb:704:in `angle'"1/home/brent/esp2/lib/axis.rb:675:in `reduce'"7/home/brent/esp2/lib/shaft.rb:137:in `dialQuietly'"-/home/brent/esp2/lib/shaft.rb:71:in `to'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"-/home/brent/esp2/lib/shaft.rb:69:in `to'"(ESP):71:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +187 #-> CTV.to waste1 +2 .CTV.dial :waste1 +2 !o:Axis::Error : mesg"2Unknown Collection Top Valve position: waste1:@checkpoint: omitted:@axisName"Collection Top Valve:bt["2/home/brent/esp2/lib/axis.rb:501:in `baseRaw'"./home/brent/esp2/lib/axis.rb:294:in `raw'"3/home/brent/esp2/lib/axismap.rb:171:in `fetch'"3/home/brent/esp2/lib/axismap.rb:159:in `fetch'"0/home/brent/esp2/lib/axis.rb:278:in `fetch'"./home/brent/esp2/lib/axis.rb:289:in `raw'"0/home/brent/esp2/lib/axis.rb:704:in `angle'"1/home/brent/esp2/lib/axis.rb:675:in `reduce'"7/home/brent/esp2/lib/shaft.rb:137:in `dialQuietly'"-/home/brent/esp2/lib/shaft.rb:71:in `to'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"-/home/brent/esp2/lib/shaft.rb:69:in `to'"(ESP):72:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +481 #-> CTV.legend +543 #-> CTV.to CSV +2 .CTV.dial CSV +2 "collection"';  +131 "core"  +716 #t-> CTV.to air +2 .CTV.dial :air + "collection"'  +131 "core"  +2133 #t-> CSV.to waste2 +2 .CSV.dial :waste2 +367 #-> CSV.to waste1 +2 .CSV.dial :waste1 + "collection"' +99 "core" +2818 #t-> CSV.stop + .CSV.stop + "collection"'{ +4 "core" +8710 #t-> CSV.stop + .CSV.stop + "collection"'T +5 "core" +4446 "Can"u\ b++t +43587 #t-> PSV.stop + .PSV.stop + "processing"% +4 "core"  +738 #t-> PSV.legend +679 #-> list PSV.method :stop +1959 #-> PSV.rawPosition + "processing"% +2 "core"  +949 #t-> PSV.stop.rawPosition + .PSV.stop + "processing"%v +4 "core"  +2 !to:NoMethodError : mesgu:NameError::messageJundefined method `rawPosition' for #: name:rawPosition: args[:bt["(ESP):84:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +864 #-> PSV.stop; PSV.rawPosition + .PSV.stop + "processing"% +4 "core"  +2 "processing"%p +3 "core"  +610 #t-> PSV.stop; PSV.rawPosition + .PSV.stop + "processing"%c +3 "core"  +2 "processing"% +3 "core"  +956 #t-> CSV.stop; CSV.rawPosition + .CSV.stop + "collection"'! +4 "core" +2 "collection"'3 +3 "core"  +9611 "Can"v\ a++s +17297 #t-> ESP.shutdown +2 ."shutdown"CS.coast +3 #tAsleep / Shutdown + "collection"'5 +3 ."shutdown"SS.coast + "sampler")5 +2 ."shutdown"CC.coast + "collection"'6 +3 ."shutdown"PC.coast + "processing"%6 +2 ."shutdown"Forearm.coast + "manipulator"&5 +3 ."shutdown"Elbow.coast + "manipulator"&6 +37 ."shutdown"Gate.power :raw,:OFF + .Gate.power :core,:OFF +2 #Shutdown +16904 #t-> ESP.configure +2 #Powering core bus +499 .Gate.power :raw,:ON +3 "sampler") +2 )= + "core"  +2 "collection"' +2 'J +3 "core"  + "processing"% +2 %K +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %\ ~ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%o% +3 "core" %V\ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")f% +3 "core" %\ x +2 .tSS.configure :default +2 "sampler")#.0X& +2 "core" & = 2 J\ +2 .tSC.configure :loose +2 "storage"($.(\ 1~b +2 (% +2 "core" % 1 1 \ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'H  +2 "core" +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast + "processing"%Z  +3 "core" + .tPH.configure :default + "processing"%\  2 +3 #tAll dwarf controllers running firmware version 3.74 + "sampler") +2668 #t-> CSV.stop; CSV.rawPosition + .CSV.stop + "collection"'7 +4 "core" +2 "collection"' +3 "core"  +257 #t-> CSV.stop; CSV.rawPosition + .CSV.stop + "collection"' +5 "core" +2 "collection"'s +3 "core"  +22465 "Can"w\ b%%r +60003 x\ b%$] +60002 w\ b%$o +25812 #t-> exit +4 #mEXIT @1581542600.08PST @1581542611.07PST = =tMAIN =mMAIN_scheduler @PST1581542612.94 #"core_reset"Sent BREAK +2 #t@0xDE33, state=0x3350, ifg=0x84, ie=0x75 + #@0xE0DD, state=0x32E2, ifg=0x10, ie=0xF5 #@0xE362, state=0x32F4, ifg=0x10, ie=0xFD + #@0xE5E6, state=0x32F4, ifg=0x10, ie=0xFD + #@0xE86A, state=0x32F4, ifg=0x10, ie=0xFD #@0xEAEE, state=0x32F4, ifg=0x10, ie=0xFD + #@0xED72, state=0x32F4, ifg=0x10, ie=0xFD + #@0xEE8B, state=0x32F4, ifg=0x80, ie=0xFD #@0x5B08, state=0x3350, ifg=0x00, ie=0x75 + #ESP2 v3.22 I2C Gateway v3.06 +8 #ESP2 v3.22 I2C Gateway v3.06 for core bus +247 #Configuration for mack 2/11/20 by brent@mbari.org\ /home/brent/esp2/type/shallow/mack/configure.rb\ +371 "Can"x\ b'&q + x\ b'&q + #tPolling Can every 10:00 +123 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %\ | +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +2 "core" %v\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % 2\ v + .tSS.configure :default +2 "sampler")#.0X ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF + .Gate.power :core,:OFF + #Shutdown +5800 "Can"0x\ f` +4890 #t-> Power.core on +2 .Gate.power :core,:ON +3582 #-> Power.core off +2 .Gate.power :core,:OFF +7509 #-> Power.core on +2 .Gate.power :core,:ON +5640 #-> Power.core off + .Gate.power :core,:OFF +38375 "Can"x\ e^ +6960 #t-> Power.core on +2 .Gate.power :core,:ON +10159 #-> Power.core off +2 .Gate.power :core,:OFF +14795 #-> Power.core on + .Gate.power :core,:ON +4891 #-> Power.core off + .Gate.power :core,:OFF +16556 #-> Power.core on + .Gate.power :core,:ON +6214 #-> Power.core off +2 .Gate.power :core,:OFF +418 "Can"|\ el +5278 #t-> ESP.configure +2 #Powering core bus +477 .Gate.power :raw,:ON +2 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %\ ~ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %O\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %.\ x + .tSS.configure :default +2 "sampler")#.0X ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF + .Gate.power :core,:OFF + #Shutdown @1581545010.64PST = =mMAIN_scheduler =tMAIN @PST1581545013.93 #"core_reset"Sent BREAK +2 #t@27457 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +322 #Configuration for mack 2/11/20 by brent@mbari.org\ /home/brent/esp2/type/shallow/mack/configure.rb\ +489 "Can"{\ eh +2 {\ eh + #tPolling Can every 10:00 +19 #Cleanly exited at 13:23:42PST12-Feb-20 +2613 #-> ESP.ready! +3 #Powering core bus +516 .Gate.power :raw,:ON +3 "sampler") +19 ) + "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +4 % +5 "core"  +8 "collection"' 9\ +5 ' 0\ +4 ' -\ +7 "processing"% 9\ +4 % 2\ +4 % *\ +4 % 0\ +6 "sampler")&\ +4 "collection"'% +5 "core" %\ ~ +4 .tCS.configure :default +3 "collection"'#P d@b +5 "processing"%% +5 "core" %\ +3 .tPS.configure :default +4 "processing"%#A d`xb +5 "sampler")% +4 "core" %\ y +4 .tSS.configure :default +3 "sampler")#.0X ESP +3 "collection"'; +4 "core"  +4 "processing"%< +7 "core" U +2 "processing"%= +6 "core"  +3 "processing"%> +6 "core"  +3 "collection"'?% +8 "core" %/\ w +3 "processing"%@% +7 "core" %z]\ +4 "sampler")A% +6 "core" %  \ r +4 "collection"'B& +6 "core" &\ x +2 "processing"%C& +3 "core" &`]\  +2 "manipulator"&D% +3 "core" %\ ` ] \\ \ ^ +2 "manipulator"&E& +3 "core" & m k J $ +2 "storage"(F& +3 "core" &< 0\ | +2 "storage"(G% +3 "core" %{ "\ } +2 "collection"'H9 +3 "core" 9\\\\ + "processing"%I9 +3 "core" 9 +5688 #t-> Puck.count 1..2 +2 "storage"(J% +2 "core" %z \ | +2 .tSE.seek :down +2 "storage"(K'w +3 "core" ' + .tSE.coast + "storage"(5 +2 .tHand.open + "manipulator"&L1 +57 "core" 1 + "manipulator"&M% +4 "core" % \ ` k e X \ ^ +2 .tSC.coast "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(N( +660 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (O& +3 "core" & f\  + "manipulator"&P& +4 "core" & ` i  $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&Q( +35 "core" ( + "manipulator"&R& +4 "core" & d v `  +2 "storage"(S& +3 "core" & Z\  +2 .tForearm.seek 1 + 800 counts + "manipulator"&T'R +96 "core" ' + "storage"(U& +4 "core" & D )\  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V' +300 "core" ' +3 "storage"(W- +6 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +4 (X% +6 "core" %  \ } +5 ."downElevator"SE.seek :down +5 "storage"(Y'w +100 (Z% +2 "core" %xQ \ |TX +2 "manipulator"&[% +3 "core" %D j j % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ Z +92 "core" ' +45 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(]( A +186 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (^& +3 "core" & > D\  +2 "manipulator"&_& +3 "core" & ] g   +3 .tElbow.seek 2 + "manipulator"&`( +43 "core" ( + "manipulator"&a& +4 "core" & i \\  ! +2 "storage"(b& +3 "core" & > o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts + "manipulator"&c'+ +93 "core" ' + "storage"(d& +4 "core" & > \  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e' +267 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (g% +3 "core" % ( =\ | +3 ."downElevator"SE.seek :down +2 "storage"(h'w +99 (i% +4 "core" % S (\ {U[ +2 "manipulator"&j% +3 "core" %, _ h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +35 "manipulator"&k'\ Z +100 "core" ' +32 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +8811 #t-> access 5 +3 .SE.seek :down + "storage"(l'w +11 "core" ' + "manipulator"&m% +4 "core" %\ c j b  + "manipulator"&n& +4 "core" & h d   + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(o( A +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (p& +2 "core" & > r\ ~ +2176 #t-> pucks +8552 #-> require "shuffle" +5262 #-> shuffle2 + #Shuffling two pucks from tube 1 to 2 of [1..7] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'q& +3 "core" &\ y +2 "manipulator"&r% +4 "core" %\ c c c  + "storage"(s% +4 "core" % \  + "storage"(t. +3 "core" .( A + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(u( +185 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (v& +3 "core" & -\ | +2 "manipulator"&w& +3 "core" & c h  +2 .tElbow.seek 1 + "manipulator"&x( +37 "core" ( + "manipulator"&y& +4 "core" & _ i   +2 "storage"(z& +3 "core" & \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&{'R +96 "core" ' +2 "storage"(|& +8 "core" & \ } +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(}' +256 "core" ' \ S +3 !to:Slide::Error\ : mesg"?Storage Elevator overCurrent at 0.12 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @error:overCurrent: @tagi}: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef13.138963181148748Õ: @type2F: @sourcei-:@axisName"Storage Elevator:bt[ "4/home/brent/esp2/lib/schedule.rb:511:in `raise'"4/home/brent/esp2/lib/slide.rb:581:in `raiseErr'"9/home/brent/esp2/lib/slide.rb:341:in `unlimitedSeek'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"9/home/brent/esp2/lib/slide.rb:314:in `unlimitedSeek'"8/home/brent/esp2/lib/scale.rb:84:in `unlimitedSeek'"0/home/brent/esp2/lib/slide.rb:305:in `seek'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/lib/slide.rb:69:in `inConfiguration'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/utils/puckmoves.rb:599:in `raiseStk'"/home/brent/esp2/utils/shuffle.rb:18:in `each_with_index'"6/home/brent/esp2/utils/shuffle.rb:18:in `shuffle'"7/home/brent/esp2/utils/shuffle.rb:43:in `shuffle2'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #1 of 4 +3 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(~'w +300 "core" ' + "storage"(& +4 "core" & \ ~ + "manipulator"&& +4 "core" & a b  +2 .tElbow.seek 1 +2 "manipulator"&( +7 "core" ( + "manipulator"&& +4 "core" & a r   +2 "storage"(& +3 "core" & \ ~ +3 .tForearm.seek 1 + 800 counts + "manipulator"&'R +4 "core" ' + "storage"(& +4 "core" & \ ~ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +256 "core" ' \ R +6 !to:Slide::Error\ : mesg"?Storage Elevator overCurrent at 0.11 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @error:overCurrent: @tagi : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef13.134054000981836:: @type2F: @sourcei-:@axisName"Storage Elevator:bt[ "4/home/brent/esp2/lib/schedule.rb:511:in `raise'"4/home/brent/esp2/lib/slide.rb:581:in `raiseErr'"9/home/brent/esp2/lib/slide.rb:341:in `unlimitedSeek'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"9/home/brent/esp2/lib/slide.rb:314:in `unlimitedSeek'"8/home/brent/esp2/lib/scale.rb:84:in `unlimitedSeek'"0/home/brent/esp2/lib/slide.rb:305:in `seek'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/lib/slide.rb:69:in `inConfiguration'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/utils/puckmoves.rb:599:in `raiseStk'"/home/brent/esp2/utils/shuffle.rb:18:in `each_with_index'"6/home/brent/esp2/utils/shuffle.rb:18:in `shuffle'"7/home/brent/esp2/utils/shuffle.rb:43:in `shuffle2'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #2 of 4 +4 .SE.reconfigure :default +4 "storage"(#K-0-\ b +2 .tSE.home.seek :down + "storage"('w +315 "core" ' + "storage"( & +4 "core" & \ } +2 "manipulator"&\ & +3 "core" & i e O  +3 .tElbow.seek 1 + "manipulator"& ( +4 "core" ( + "manipulator"& & +4 "core" & i g   + "storage"( & +4 "core" & \ } +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&'R +3 "core" ' +2 "storage"(& +3 "core" & \ } +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +257 "core" ' &\ R +5 !to:Slide::Error\ : mesg"?Storage Elevator overCurrent at 0.11 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @error:overCurrent: @tagi: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi& : voltagef13.134054000981836:: @type2F: @sourcei-:@axisName"Storage Elevator:bt[ "4/home/brent/esp2/lib/schedule.rb:511:in `raise'"4/home/brent/esp2/lib/slide.rb:581:in `raiseErr'"9/home/brent/esp2/lib/slide.rb:341:in `unlimitedSeek'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"9/home/brent/esp2/lib/slide.rb:314:in `unlimitedSeek'"8/home/brent/esp2/lib/scale.rb:84:in `unlimitedSeek'"0/home/brent/esp2/lib/slide.rb:305:in `seek'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/lib/slide.rb:69:in `inConfiguration'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/utils/puckmoves.rb:599:in `raiseStk'"/home/brent/esp2/utils/shuffle.rb:18:in `each_with_index'"6/home/brent/esp2/utils/shuffle.rb:18:in `shuffle'"7/home/brent/esp2/utils/shuffle.rb:43:in `shuffle2'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Retry #3 of 4 +4 .SE.reconfigure :default +4 "storage"(#K-0-\ b +4 .tSE.home.seek :down +3 "storage"('w +314 "core" ' +3 "storage"(& +8 "core" & \ ~ +3 "manipulator"&& +7 "core" & b c  +4 .tElbow.seek 1 +3 "manipulator"&( +7 "core" ( +2 "manipulator"&& +8 "core" & b _  +2 "storage"(& +8 "core" & \ } +5 .tForearm.seek 1 + 800 counts +3 "manipulator"&'R +6 "core" ' +3 "storage"(& +7 "core" & \ } +5 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(' +257 "core" ' \ R +2 !to:Slide::Error\ : mesg"?Storage Elevator overCurrent at 0.11 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @error:overCurrent: @tagi": @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef13.134054000981836:: @type2F: @sourcei-:@axisName"Storage Elevator:bt[ "4/home/brent/esp2/lib/schedule.rb:511:in `raise'"4/home/brent/esp2/lib/slide.rb:581:in `raiseErr'"9/home/brent/esp2/lib/slide.rb:341:in `unlimitedSeek'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"9/home/brent/esp2/lib/slide.rb:314:in `unlimitedSeek'"8/home/brent/esp2/lib/scale.rb:84:in `unlimitedSeek'"0/home/brent/esp2/lib/slide.rb:305:in `seek'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/lib/slide.rb:69:in `inConfiguration'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/utils/puckmoves.rb:599:in `raiseStk'"/home/brent/esp2/utils/shuffle.rb:18:in `each_with_index'"6/home/brent/esp2/utils/shuffle.rb:18:in `shuffle'"7/home/brent/esp2/utils/shuffle.rb:43:in `shuffle2'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #4 of 4 +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +3 .tSE.home.seek :down + "storage"('w +315 "core" ' + "storage"(& +4 "core" & \ ~ +2 "manipulator"&"& +3 "core" & ` d  +2 .tElbow.seek 1 +2 "manipulator"&%( +3 "core" ( + "manipulator"&'& +4 "core" & _ h  + "storage"()& +4 "core" & \ } +2 .tForearm.seek 1 + 800 counts +2 "manipulator"&('R +4 "core" ' +2 "storage"(& +3 "core" & \ } +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(' +256 "core" ' I\ R +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(#'w +274 "core" ' + .tSE.coast + "storage"(5 +2 "manipulator"&,% +4 "core" %M \\ \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ Z +92 "core" ' + !to:Slide::Error\ : mesg"?Storage Elevator overCurrent at 0.11 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @error:overCurrent: @tagi#: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiI : voltagef13.134054000981836:: @type2F: @sourcei-:@axisName"Storage Elevator:bt[ "4/home/brent/esp2/lib/schedule.rb:511:in `raise'"4/home/brent/esp2/lib/slide.rb:581:in `raiseErr'"9/home/brent/esp2/lib/slide.rb:341:in `unlimitedSeek'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"9/home/brent/esp2/lib/slide.rb:314:in `unlimitedSeek'"8/home/brent/esp2/lib/scale.rb:84:in `unlimitedSeek'"0/home/brent/esp2/lib/slide.rb:305:in `seek'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/lib/slide.rb:69:in `inConfiguration'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/utils/puckmoves.rb:599:in `raiseStk'"/home/brent/esp2/utils/shuffle.rb:18:in `each_with_index'"6/home/brent/esp2/utils/shuffle.rb:18:in `shuffle'"7/home/brent/esp2/utils/shuffle.rb:43:in `shuffle2'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +6771 #-> ESP.ready! +2 "collection"'.% +8 "core" %/\ y +4 "sampler")0% +5 "processing"%/% +7 "manipulator"&1% +14 "core" %  \ t +2 %zV\ +2 %\ W c c  +2 "manipulator"&2& +9 "core" & ^ c  +2 "storage"(3& +4 "core" & \ ~ + "storage"(4% +3 "core" % \  +2 "collection"'5& +3 "core" &\ y + "processing"%6& +4 "core" &`Q\  +2 "collection"'7 +3 "core"  + "processing"%8 +3 "core" U + "processing"%9 +3 "core"  +2 "processing"%: +3 "core"  + "collection"';% +4 "core" %/\ y + "processing"%<% +4 "core" %zO\ +2 "sampler")=% +3 "core" %  $\ s +2 "collection"'>& +3 "core" &\ y +2 "processing"%?& +3 "core" &`P\  +2 "manipulator"&@% +3 "core" %\ W d i   +2 "manipulator"&A& +3 "core" & c c  +2 "storage"(B& +3 "core" & \ ~ +2 "storage"(C% +3 "core" % \  +2 "collection"'D9 +3 "core" 9_] + "processing"%E9 +3 "core" 9 +1094 #t-> to 2 +2 .SE.seek :down + "storage"(F'w +11 "core" ' + "manipulator"&G% +4 "core" %\ W c W  + "manipulator"&H& +4 "core" & ^ a  + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(I( A +193 "core" ( +3 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (J& +7 "core" & A# \ }  +1414 #t-> Puck.raiseStack +2 "storage"(L& +6 "core" & A" /\ }  +4 .tSE.reconfigure :place +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(M' +269 "core" ' +3 "storage"( - +6 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 .tSE.seek :place +2 "storage"(K' +28 "core" ' +632 "Can"{\ ^;; +744 #t-> to 1 +3 .SE.seek :down +2 "storage"(!'w +274 "core" ' + "manipulator"&O% +4 "core" %\ W c c  + "manipulator"&P& +4 "core" & ` a  + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(R( +187 "core" ( +3 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (S& +4 "core" & 3\ ~ +287 #t-> Puck.raiseStack + "storage"(U& +4 "core" & \  +2 .tSE.reconfigure :place +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($' +301 "core" ' +4 "storage"(&- +6 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +1728 #t-> SE.down +2 .SE.seek :down +3 "storage"(W'w +251 "core" ' + "storage"(X% +4 "core" %n { !\  +1054 #t-> Puck.raiseStack :pick, SEpick + "storage"(Z& +3 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"([' +255 "core" ' \ S +3 !to:Slide::Error\ : mesg"?Storage Elevator overCurrent at 0.11 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @error:overCurrent: @tagi`: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef13.138963181148748Õ: @type2F: @sourcei-:@axisName"Storage Elevator:bt["4/home/brent/esp2/lib/schedule.rb:511:in `raise'"4/home/brent/esp2/lib/slide.rb:581:in `raiseErr'"9/home/brent/esp2/lib/slide.rb:341:in `unlimitedSeek'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"9/home/brent/esp2/lib/slide.rb:314:in `unlimitedSeek'"8/home/brent/esp2/lib/scale.rb:84:in `unlimitedSeek'"0/home/brent/esp2/lib/slide.rb:305:in `seek'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/lib/slide.rb:69:in `inConfiguration'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/utils/puckmoves.rb:599:in `raiseStk'" SE.down +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(V'w +270 "core" ' +3 "storage"(T% +8 "core" % \ ~ +787 #t-> Puck.raiseStack :place, SEpick +2 "storage"(^& +3 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(_' +256 "core" ' \ S +2 !to:Slide::Error\ : mesg"?Storage Elevator overCurrent at 0.11 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @error:overCurrent: @tagid: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdT: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef13.138963181148748Õ: @type2F: @sourcei-:@axisName"Storage Elevator:bt["4/home/brent/esp2/lib/schedule.rb:511:in `raise'"4/home/brent/esp2/lib/slide.rb:581:in `raiseErr'"9/home/brent/esp2/lib/slide.rb:341:in `unlimitedSeek'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"9/home/brent/esp2/lib/slide.rb:314:in `unlimitedSeek'"8/home/brent/esp2/lib/scale.rb:84:in `unlimitedSeek'"0/home/brent/esp2/lib/slide.rb:305:in `seek'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/lib/slide.rb:69:in `inConfiguration'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/utils/puckmoves.rb:599:in `raiseStk'" SE.down +3 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :down + "storage"(a'w +271 "core" ' + "storage"(b% +4 "core" %~ \ ~ +1087 #t-> Puck.raiseStack :place, SEplace +2 "storage"(Y& +6 "core" & \  +5 .tSE.reconfigure :place +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(N' +301 "core" ' + "storage"(d- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +1415 #t-> SEpick +538 #-> SEplace +1346 #-> SEpick.thresholdOffset +784 #-> SEplace.thresholdOffset +3146 #-> SEpick.thresholdOffset=0 +1235 #-> Puck.raiseStack :place, SEpick + "storage"(Q& +3 "core" & \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\' +64 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +558 #t-> SE.down +2 .SE.seek :down +3 "storage"(g'w +263 "core" ' + "storage"(i% +4 "core" %n /\  +155 #t-> Puck.raiseStack :place, SEpick +3 "storage"(j& +6 "core" & ;\  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(e' +277 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2944 #t-> SEpick.thresholdOffset=-90 +276 #-> Puck.raiseStack :place, SEpick + "storage"(h& +3 "core" & \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]' +18 "core" ' + "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +364 #t-> SE.down +2 .SE.seek :down + "storage"(n'w +266 "core" ' +3 "storage"(p% +8 "core" %} \  +888 #t-> Puck.raiseStack :place, SEpick + "storage"(q& +3 "core" & \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +3 "storage"(r' +277 "core" ' + "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +817 #t-> Arm.to 1 + "manipulator"&t& +3 "core" & c `  +2 .tElbow.seek 1 +2 "manipulator"&v( +3 "core" ( + "manipulator"&w& +3 "core" & b j   +2 "storage"(y& +3 "core" & \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&z'R +87 "core" ' + "manipulator"&o& +4 "core" & _ g  +2 "manipulator"&|% +3 "core" %X c c +1411 #t-> Hand.close + .Hand.close +2 "manipulator"&`/ +65 "core" / +1770 #t-> Hand.open + .Hand.open + "manipulator"&k1 +65 "core" 1 +204 #t-> SE.down +3 .SE.seek :down +2 "storage"(}'w +271 "core" ' + "storage"(l% +4 "core" %} \  +290 #t-> shutffle2 +873 #-> shuffle2 +3 #Shuffling two pucks from tube 1 to 2 of [1..7] +3 #Loading generic puck from tube 1 into Collection Clamp +2 "collection"'& +6 "core" &\ y +3 "manipulator"&% +8 "core" % X b ^ +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&'\ Z +91 "core" ' + "storage"(% +4 "core" %} \  + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \ ~ +2 "storage"(x& +3 "core" & \ ~ +2 "manipulator"&{& +3 "core" & c a  +2 .tElbow.seek 1 +2 "manipulator"&~( +3 "core" ( + "manipulator"& & +4 "core" & \\ `  + "storage"(\ & +4 "core" & \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts +2 "manipulator"& 'R +95 "core" ' + "storage"( & +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(' +283 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ } +2 "manipulator"&& +3 "core" & b a   +2 .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +3 "core" & b i   +2 "storage"(& +3 "core" & \ } +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&'^ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"( 'w +8 "core" & b y 3  + "manipulator"&% +4 "core" % c c d  +2 .tForearm.seek :retract + "manipulator"&'\ Z +91 "core" ' + .tElbow.seek CC +2 "manipulator"&(S +159 "core" ( +3 "manipulator"&& +9 "core" ' +2 &X\ a b [ i +3 ."downElevator"SE.coast +5 .tElbow.reconfigure :loose +3 "storage"(5 +7 "manipulator"&$ &.,(#b +5 &"& +5 "core" &X\ d f { i +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +3 "manipulator"&'' +93 "core" ' +3 "manipulator"&)& +8 "core" &Y\ | p y h +3 "manipulator"&% +7 "core" % c c \\ +2 "collection"'& +3 "core" &\ x +2 "collection"'& +5 "core" &\ x +2 .tCC.seek :closed + "collection"'(Y +5 "core" &\ x  +9 &5\ s+{ +10 &c\ s? +9 &\ rP +10 &Yc\ tO +9 &b\ tP +9 & g\ tP +10 &"e\ tP +9 &$`c\ tP +9 &&#f\ tO +10 &'a\ tO +9 &)h\ sO +10 &+jb\ tO +9 &-+f\ tO +9 &.e\ tP +10 &0e\ tP +9 &2qe\ tO +9 &44b\ tO +10 &5e\ tO +9 &7g\ tO +10 &9yb\ tO +9 &;;d\ tO +9 &<e\ tP +10 &>c\ tO +10 &@h\ tO +10 &BBe\ sP +9 &Dd\ tO +9 &Eb\ tO +10 &Gc\ tP +9 &IHr\ sP +9 &Ko\ sQ +10 &L~\ rR +9 &N\ rS +9 &P>\ pW +10 &Q\ oY +9 &S\ oZ +10 &Uz\ oZ +9 &W=\ oZ +9 &Xx\ q: +10 &Y)\ q ` +9 &YG\ u@ +4 ( +3 "collection"'& +8 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.90 +2 .Hand.open +2 "manipulator"&1 +6 "core" &YG\ u@ +57 1 + "manipulator"&,% +4 "core" % g e O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&#'\ Z +106 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%(& +4 "core" &`a\  +2 "manipulator"&.% +3 "core" %\ e b b +2 "storage"(1% +4 "core" % \ } + "storage"(/. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(0( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (2& +2 "core" & \ } +2 "manipulator"&3& +3 "core" &Y\ a a h +2 "manipulator"&4% +4 "core" %\ e b a + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&5( +151 "core" ( +3 "manipulator"&6& +8 "core" & h d \ +3 "storage"(7& +7 "core" & \ } +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 800 counts +3 "manipulator"&8'R +91 "core" ' + "storage"(9& +4 "core" & \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:' +270 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" & \ z + "manipulator"&=& +4 "core" & c b \ + .tElbow.seek 1 +2 "manipulator"&>( +9 "core" ( + "manipulator"&?& +4 "core" & h c + "storage"(@& +4 "core" & |\ { +2 .tForearm.seek 1 + 300 counts + "manipulator"&A'^ +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&B/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&C& +5 "storage"(D'w +14 "core" & b b +3 "manipulator"&E% +8 "core" % S a c +4 .tForearm.seek :retract +2 "manipulator"&G'\ Z +91 "core" ' +3 .tElbow.seek PC +3 "manipulator"&H( +150 "core" ' + ."downElevator"SE.coast + "storage"(5 +97 "core" ( +2 "manipulator"&J& +4 "core" &\ k m b m + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &\ ` b m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L's +95 "core" ' +3 "manipulator"& & +8 "core" &\  x d m +3 "manipulator"&F% +7 "core" %y ] \\  O +4 "processing"%M& +83 "core" &`a\  +21 "processing"%O& +9 "core" &`a\  +6 .tPC.seek :closed +2 "processing"%P(Yy +3 "core" &`R\  +3 &`Q\  +9 &5L\ +| +9 &dO\ @ +10 &0K\ P +9 &jL\ O +9 &hN\ O +10 &!xjF\ O +9 &#9kM\ O +9 &$i<\ O +10 &&g=\ O +9 &(~e@\ O +9 &*@h=\ O +11 &,gA\ O +8 &-hD\ O +10 &/dD\ P +9 &1Hh<\ O +9 &3 i@\ P +10 &4fH\ O +9 &6gD\ O +9 &8QgD\ O +10 &:fB\ O +9 &;eD\ O +10 &=fC\ O +9 &?YbC\ O +9 &AgB\ P +10 &BeC\ P +9 &DjC\ P +9 &F`dC\ O +10 &H"jC\ O +9 &IgC\ P +11 &KsC\ P +9 &Mbz@\ Q +9 &OC\ S +10 &PB\ U +9 &RC\ U +10 &T]C\ V +9 &V C\ U +9 &WD\ F +9 &Y?tC\ 'q +9 &Y_1B\ ) +6 ( + "processing"%O& +4 #tProcessing Clamp onSpring/offSpring for 6/24 samples, on/off torque 1.54 + .Hand.open + "manipulator"&K1 +4 "core" &Y_@\ ) +60 1 + "manipulator"&S% +4 "core" % y i i L O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I'\ Z +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%U& +4 "core" &Y_1\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&!% +4 "core" %\ r a g \ o +2 "storage"(&% +3 "core" %u \ } +2 "storage"(X. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"($( A +192 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (Z& +2 "manipulator"&[& +4 "core" & C! V\ { +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]K-0-\ b +2 "core" &\ ] _ m +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&W( +2 "storage"(T' +5 "core" ( + "manipulator"&^& +4 "core" &\ a l m m + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &\ ` ] m +2 .tForearm.seek PC +2 "manipulator"&V's +96 "core" ' +5 .tPC.seek :sealed +3 "processing"%b(Ni +96 "core" ( + .tHand.close + "manipulator"&Y/ +48 "core" ' + "storage"(a- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(d' +3 "core" / +2 .tPC.seek :open +2 "processing"%Q(u +21 "core" ' +295 ( + "storage"(f& +4 "core" & C l\ { +2 "manipulator"&N& +3 "core" &\ h c m + "manipulator"&i% +4 "core" % ^ o x B M +2 .tForearm.seek :retract + "manipulator"&\\'\ Z +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&j( +255 "core" ( + "manipulator"&c& +4 "core" & a h Y \ +2 "storage"(g& +3 "core" & C ~\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&h'+ +98 "core" ' + .tHand.open + "manipulator"&m1 +59 "core" 1 +2 "storage"(e- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate + "storage"(p'l +27 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"(]'t +48 "core" ' + #tLights, camera, ACTION! + "storage"(q- +4 "core" -'t + "storage"(s& +4 "core" & C V U \ r + "manipulator"&n& +4 "core" & a a \ +2 .tElbow.seek 2 + "manipulator"&t( +20 "core" ( + "manipulator"&w& +4 "core" & ` g  +2 "storage"(y& +3 "core" & C X W M\ s +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&o'+ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.07 Pucks below Top Plate +2 "storage"(|' +59 "core" ' + "manipulator"&%& +4 "core" & c g   +2 "storage"(-& +3 "core" & C E\ { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&`' +30 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(l' +21 "core" ' +3 "manipulator"&r% +9 "core" % a a ! +2 "storage"(& +8 "core" & C \ z +3 .tForearm.force -20 + "manipulator"&5 +6 .tForearm.seek 2 + 319 counts +2 "manipulator"&'J +20 "core" ' +3 "manipulator"&& +8 "core" & e i   +4 "storage"(& +7 "core" & C \ | +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 800 counts +3 "manipulator"&'+ +20 "core" ' +3 "storage"(x% +9 "core" % \ | +4 ."downElevator"SE.seek :down +6 "storage"({'w +98 ( % +4 "core" %R \ yTW +2 "manipulator"&\ % +4 "core" %7 a h  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ Z +88 "core" ' +69 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (z& +3 "core" & C D\ } +2 "collection"'v& +3 "core" &YG\ w@ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ a ^ a u + "storage"(% +4 "core" % \ ~ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(( A +6 "core" ( +3 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (}& +8 "core" & C \ } +3 "manipulator"&& +7 "core" & b a  +4 .tElbow.seek 2 +2 "manipulator"&( +7 "core" ( +3 "manipulator"&& +8 "core" & a `  +3 "storage"(& +7 "core" & C \ ~ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 800 counts +3 "manipulator"&'+ +102 "core" ' +3 "storage"(~& +8 "core" & C \ ~ +4 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( ' +271 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 "manipulator"&"& +8 "core" & g e  +4 "storage"(& +8 "core" & B `\ | +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 2 +2 "manipulator"&' +40 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(' +28 "core" ' + "manipulator"&% +4 "core" %  +2 "storage"( & +3 "core" & B s\ z + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 302 counts + "manipulator"&'9 +13 "core" ' + "manipulator"&+& +4 "core" & e g  +2 "storage"(& +3 "core" & B \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 800 counts + "manipulator"&,'+ +27 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"((' +39 "core" ' + "manipulator"&.& +4 "core" & j g  +2 "manipulator"&% +4 "core" %& k e A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&1'\ Z +93 "core" ' +2 .tElbow.seek CC + "manipulator"&/(S +160 "core" ( +2 "manipulator"&2& +4 "core" &^ h d _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +2 "core" &^ b _ _ +2 .tForearm.seek CC +2 "manipulator"&4' +102 "core" ' +5 .tCC.seek :sealed +3 "collection"''(P +95 "core" ( + .tHand.close + "manipulator"&6/ +65 "core" / + .tCC.seek :open +2 "collection"'7( +333 "core" ( + "storage"(R& +4 "core" & B \ } + "storage"(9& +4 "core" & B \ } + "manipulator"&& +4 "core" &^ z c _ + "manipulator"&#% +4 "core" % p | +2 .tForearm.seek :retract + "manipulator"&;'\ Z +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&<( +160 "core" ( +3 "manipulator"&=& +9 "core" & d f  +2 "storage"(?& +8 "core" & B \  +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +5 .tForearm.seek 2 +3 "manipulator"&@' +111 "core" ' + .tElbow.hold + "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&C1 +54 "core" 1 +3 "manipulator"&E% +4 "core" %  + "storage"(5& +3 "core" & B 9\ } +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 314 counts + "manipulator"&8'E +16 "core" ' + "manipulator"&:& +4 "core" & ^ g  +2 "storage"(A& +3 "core" & B p \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 800 counts +2 "manipulator"&J'+ +21 "core" ' + "storage"(u% +4 "core" %$ \  +3 ."downElevator"SE.seek :down +3 "storage"(>'w +98 ( % +3 "core" %Q \ }SV +2 "manipulator"&F% +3 "core" %5 ] a ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ Z +93 "core" ' +64 ' +2 ."downElevator"SE.coast +2 "storage"(5 +5 .tSC.coast +2 "storage"(6 +6 #tShuffling two pucks from tube 2 to 3 of [1..7] +3 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'D& +9 "core" &\ z +3 "manipulator"&G% +9 "core" %\ b V _  +4 "storage"(*% +6 "core" %   E\ +4 "storage"(K. +5 "core" . +4 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +5 .tSC.seek 2 +2 "storage"(S( A +4 "core" ( +3 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +5 (U& +84 "core" & B \  +24 "manipulator"&!& +8 "core" & b b  +4 .tElbow.seek 2 +2 "manipulator"&&( +7 "core" ( +3 "manipulator"&X& +8 "core" & a ^  +3 "storage"(O& +7 "core" & B  @\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 800 counts +3 "manipulator"&L'+ +89 "core" ' + "storage"(Z& +4 "core" & B   =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"([' +278 "core" ' +3 "storage"(^- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +5 (_& +6 "core" & B \ ~ +3 "manipulator"&0& +7 "core" & _ g ;  +4 .tElbow.seek 2 +2 "manipulator"&a( +7 "core" ( +3 "manipulator"&Y& +6 "core" & b c  +4 "storage"(H& +7 "core" & B \ ~ +4 .tForearm.seek 2 + 300 counts +2 "manipulator"&I'7 +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +64 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&T& +2 "storage"(b'w +6 "core" & m v A  +2 "manipulator"&f% +4 "core" % I c b  +2 .tForearm.seek :retract + "manipulator"&N'\ Z +93 "core" ' + .tElbow.seek CC +2 "manipulator"&i(S +158 "core" ( + ' + ."downElevator"SE.coast +3 "manipulator"&V& +4 "storage"(5 +3 "core" &T k z k "y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &T ` ` ? "y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g' +99 "core" ' + "manipulator"&W& +4 "core" &T V f "y +2 "manipulator"&m% +4 "core" % ` b + "collection"'e& +4 "core" &\ y +2 "collection"'q& +5 "core" &\ x +2 .tCC.seek :closed + "collection"'s(Y +4 "core" &\ y +8 &.\ w#b +9 &U\ s8 +10 &"~\ sL +9 &e\ tO +10 &b\ uO +9 & _d\ uO +9 &""`\ uN +10 &#b\ uO +9 &%_\ uO +9 &'h`\ uN +10 &))a\ uO +9 &*b\ uN +10 &,a\ uO +9 &.pb\ uN +9 &01`\ uO +10 &1d\ uO +9 &3_\ uN +9 &5xa\ uN +10 &79`\ uO +9 &8d\ uO +10 &:b\ tO +9 &<b\ uO +9 &>@`\ uO +10 &@b\ uO +9 &A`\ uO +9 &C^\ uO +10 &EIa\ uO +9 &G b\ uN +10 &Hf\ uP +9 &Jn\ tQ +9 &LJu\ tQ +10 &N ~\ sR +9 &O\ rU +9 &Q|\ pX +11 &S:\ oY +9 &T\ pY +10 &V\ oZ +9 &X|\ oG +9 &Y~:\ q#k +10 &Yp\ tH +5 ( +5 "collection"'q& +7 #tCollection Clamp onSpring/offSpring for 4/25 samples, on/off torque 1.98 +2 .Hand.open +2 "manipulator"&n1 +7 "core" &Yn\ tH +50 1 +3 "manipulator"&w% +8 "core" % ' _ _  +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&y'\ Z +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%\\& +4 "core" &N\ + "manipulator"&%% +4 "core" %\ r b b +2 "storage"(-% +3 "core" % !\ | +2 "storage"(d. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(r( A +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" & B D\ | +2 "manipulator"&p& +3 "core" &U h a "x +2 "manipulator"&% +3 "core" %\ r ` b +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +156 "core" ( +3 "manipulator"&j& +8 "core" & a \\  +3 "storage"(x& +7 "core" & B \ } +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 800 counts +3 "manipulator"&h'+ +89 "core" ' +3 "storage"(]& +8 "core" & B \ } +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +3 "storage"(o' +271 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" & B /\ z +2 "manipulator"&t& +3 "core" & ] `  +2 .tElbow.seek 2 + "manipulator"&|( +4 "core" ( + "manipulator"&`& +3 "core" & _ h  +2 "storage"(& +3 "core" & B :\ { +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z'7 +26 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&v/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('w +8 "core" & a `  +2 "manipulator"&l% +3 "core" % C a b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +93 "core" ' + .tElbow.seek PC +2 "manipulator"&}( +169 "core" ' + ."downElevator"SE.coast + "storage"(5 +77 "core" ( +2 "manipulator"&& +4 "core" & j d o d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" & ` b d +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'s +96 "core" ' +4 "manipulator"&& +7 "core" & d c d +3 "manipulator"&~% +7 "core" %u b _ D +4 "processing"%{& +6 "core" &P\ +4 "processing"%$& +10 "core" &R\ +6 .tPC.seek :closed +2 "processing"%k(Yy +9 "core" &P\ +2 &P\ +3 &BM\ $d +9 &hUQ\ 7 +9 &~P\ L +10 &okE\ O +9 &2hO\ N +10 & kL\ O +9 &"eN\ N +9 &$wiO\ O +10 &&:kO\ N +9 &'fL\ O +9 &)hH\ O +10 &+dJ\ O +9 &-AgC\ O +10 &/hD\ O +9 &0eL\ O +9 &2gJ\ N +10 &4If@\ O +9 &6 kC\ O +9 &7hB\ O +9 &9h>\ O +9 &;Rj<\ N +10 &=e<\ N +9 &>m9\ O +9 &@jA\ N +10 &BZgB\ N +9 &DhB\ O +9 &Ej;\ O +10 &Gk>\ O +9 &IajD\ O +10 &K"rC\ O +9 &L{A\ P +9 &NC\ Q +10 &PYB\ T +9 &R=\ U +9 &SA\ T +10 &UD\ U +9 &W]E\ V +10 &X_E\ $n +9 &YZeB\ - +9 ( +2 &Y_?\ ( + "processing"%$& +3 #tProcessing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.48 + .Hand.open + "manipulator"& 1 +63 "core" 1 +3 "manipulator"&% +8 "core" % t d g E +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&"'\ Z +94 "core" ' +3 .tSC.coast +2 "storage"(6 +4 "processing"%& +8 "core" &Y_B\ ( +4 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&)% +8 "core" %\ ` a d  +3 "storage"(% +3 "core" % p\ | + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(+( +193 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& + "manipulator"&.& +6 "core" & a c d + &# \ y  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]K-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(' + "manipulator"&( +6 "core" ( + "manipulator"&& +4 "core" & h ^ d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +2 "core" & e f d +2 .tForearm.seek PC +2 "manipulator"&'s +101 "core" ' +2 .tPC.seek :sealed +2 "processing"%(Ni +94 "core" ( + .tHand.close + "manipulator"&/ +45 "core" ' + "storage"(2- +3 "core" -' +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b + "core" / +3 ."raiseStack"SE.seek :place +2 .tPC.seek :open +2 "storage"(3' +4 "processing"%,(u +26 "core" ' +290 ( + "storage"(& +4 "core" &" p\ w  + "manipulator"&6& +4 "core" & o  I d + "manipulator"&1% +5 "core" % H x c z 7 +4 .tForearm.seek :retract +2 "manipulator"&'\ Z +96 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 3 +2 "manipulator"&'( +251 "core" ( + "manipulator"&R& +4 "core" & h _  +2 "storage"(9& +3 "core" &" k l\ x  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&'L +100 "core" ' +4 .tHand.open +2 "manipulator" +64 "core" 1 +4 "storage"(=- +7 "core" -' +4 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"(?'l +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"(4't +49 "core" ' + #tLights, camera, ACTION! + "storage"(/- +4 "core" -'t + "storage"(C& +4 "core" &" R ? 4\ q  + "manipulator"&E& +4 "core" & b b  +2 .tElbow.seek 3 + "manipulator"&5( +8 "core" ( + "manipulator"&:& +4 "core" & h ^  +2 "storage"(A& +4 "core" &" G Q \ q  +2 .tForearm.seek 3 + 800 counts + "manipulator"&u'L +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.07 Pucks below Top Plate +2 "storage"(;' +59 "core" ' + "manipulator"& & +4 "core" & _ a  +2 "storage"(F& +4 "core" &" \ {  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&<', +35 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(8' +21 "core" ' + "manipulator"&D% +5 "core" %? q   + "storage"((& +4 "core" &# k o \ x  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&G'k +16 "core" ' +4 "manipulator"&*& +8 "core" & _ c  +4 "storage"(K& +7 "core" &" H\ {  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 800 counts +3 "manipulator"&U'L +23 "core" ' +48 "storage"(J% +14 "core" % P\ { +2 ."downElevator"SE.seek :down +4 "storage"(!'w +99 (X% +3 "core" %O o P\ xSV +2 "manipulator"&O% +4 "core" %a ` b * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ Z +88 "core" ' +70 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (& +4 "core" & |\ | + "collection"'Z& +4 "core" &Ym\ vH +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&B% +4 "core" %\ W c d  + "storage"(M% +4 "core" %u \ } + "storage"(^. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"(_( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (0& +3 "core" & \ } + "manipulator"&Y& +4 "core" & c d  +2 .tElbow.seek 3 + "manipulator"&H( +4 "core" ( + "manipulator"&P& +4 "core" & d T  + "storage"(T& +4 "core" & \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&f'L +98 "core" ' +3 "storage"(&& +8 "core" & \ } +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(L' +271 "core" ' + "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +2 "core" & ` c  +2 "storage"([& +3 "core" & 5\ { +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&I', +33 "core" ' + .tElbow.hold + "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate + "storage"(e' +28 "core" ' +3 "manipulator"&a% +8 "core" %? r  e  +3 "storage"(b& +7 "core" & g\ y +3 .tForearm.force -20 + "manipulator"&5 +6 .tForearm.seek 3 + 319 counts +2 "manipulator"&N'k +17 "core" ' +3 "manipulator"&7& +8 "core" & b `  +3 "storage"(n& +7 "core" & \ | +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 800 counts +3 "manipulator"&w'L +23 "core" ' +4 .tSE.seek 1.14 Pucks below Top Plate +3 "storage"(\\' +39 "core" ' +3 "manipulator"&%& +8 "core" & h c  +4 "manipulator"&q% +7 "core" %N a b T +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"&-'\ Z +90 "core" ' + .tElbow.seek CC +2 "manipulator"&d(S +158 "core" ( + "manipulator"&& +4 "core" &` j k  [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +2 "core" &` \\ f [ +2 .tForearm.seek CC +2 "manipulator"&' +100 "core" ' +5 .tCC.seek :sealed +3 "collection"'g(P +95 "core" ( + .tHand.close + "manipulator"&j/ +59 "core" / + .tCC.seek :open +2 "collection"'x( +330 "core" ( + "storage"(S& +4 "core" & \ ~ + "storage"(]& +4 "core" & \ ~ + "manipulator"&i& +4 "core" &` ` n N [ + "manipulator"&y% +4 "core" %  b y M  +2 .tForearm.seek :retract + "manipulator"& '\ Z +97 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +3 "manipulator"&\ ( +152 "core" ( + "manipulator"&t& +4 "core" & m _ +2 "storage"(`& +3 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&', +107 "core" ' + .tElbow.hold +2 "manipulator"&v, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +4 "manipulator"&l% +8 "core" % ? n . +3 "storage"(& +6 "core" & \ } +5 .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 3 + 319 counts +2 "manipulator"&h'k +20 "core" ' +3 "manipulator"&o& +8 "core" & c j +3 "storage"(z& +7 "core" & \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 800 counts +3 "manipulator"&'L +23 "core" ' +3 "storage"(% +8 "core" % \  +5 ."downElevator"SE.seek :down +6 "storage"(|'w +96 (% +3 "core" %L \ }TW +2 "manipulator"&~% +4 "core" %T a ` \ Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&{'\ Z +90 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 3 to 4 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &\ z +2 "manipulator"&% +3 "core" %\ ` a a  +2 "storage"(Q% +4 "core" %   \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(( +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" & d\  +2 "manipulator"&$& +3 "core" & e b  +2 .tElbow.seek 3 +2 "manipulator"&)( +8 "core" ( + "manipulator"&& +4 "core" & k k  +3 "storage"( & +9 "core" &  \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 800 counts +3 "manipulator"&'L +100 "core" ' + "storage"(& +4 "core" &   %\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.' +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & \ ~ +2 "manipulator"&r& +3 "core" & b b  +2 .tElbow.seek 3 + "manipulator"&2( +8 "core" ( + "manipulator"&& +4 "core" & i d  + "storage"(}& +4 "core" & \ ~ +2 .tForearm.seek 3 + 300 counts + "manipulator"&"'X +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&k/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('w +7 "core" & b c  + "manipulator"&% +7 "core" % [ ] c +3 .tForearm.seek :retract +3 "manipulator"&6'\ Z +93 "core" ' +4 .tElbow.seek CC +3 "manipulator"&1(S +150 "core" ' + ."downElevator"SE.coast + "storage"(5 +5 "core" ( + "manipulator"&& +4 "core" &R n x p "y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &R ` ` "y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9' +101 "core" ' + "manipulator"&& +4 "core" &S | p " "x +2 "manipulator"&#% +4 "core" % ` `  + "collection"'=& +4 "core" &\ x +2 "collection"'/& +5 "core" &\ x +3 .tCC.seek :closed +2 "collection"'C(Y +8 "core" &\ x +4 &\ x7 +10 &|G~\ s1 +9 &s\ rE +9 &Fk\ tO +10 &\ _\ tO +9 &a\ sO +10 &!b\ tN +9 &#P]\ tO +9 &%_\ tO +10 &&\\\ tO +9 &(_\ sO +9 &*W`\ tO +10 &,\\\ tO +9 &-]\ tO +10 &/\\\ tO +9 &1``\ tO +9 &3"]\ tO +10 &4Z\ tO +9 &6Z\ tN +9 &8h^\ tO +10 &:*]\ tO +9 &;\\\ tO +10 &=a\ tO +8 &?p`\ tO +10 &A2`\ tO +10 &B\\\ tO +8 &D`\ tN +9 &Fx]\ tO +10 &H:]\ tO +9 &Ik\ tP +10 &Kk\ tP +9 &Myu\ sQ +9 &O5\ rS +10 &P\ pX +9 &R\ pY +9 &Tj\ oY +10 &V)\ oZ +9 &W\ o[ +10 &YDL\ r1 +9 &YT\ u; +6 ( + "collection"'/& +4 #tCollection Clamp onSpring/offSpring for 5/26 samples, on/off torque 2.02 + .Hand.open + "manipulator"&E1 +4 "core" &Y>\ u; +56 1 + "manipulator"&:% +4 "core" % i d /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +98 "core" ' +3 .tSC.coast +2 "storage"(6 +5 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%A& +8 "core" &R\ +2 "manipulator"& % +3 "core" %\ c ` a  +2 "storage"(F% +4 "core" %z \ } + "storage"(D. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"(3( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ((& +2 "core" & \ } +2 "manipulator"&?& +3 "core" &T ` a !w +2 "manipulator"&*% +3 "core" %\ c a `  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&K( +152 "core" ( + "manipulator"&J& +4 "core" & i _ +2 "storage"('& +3 "core" & \ ~ +43 .tForearm.reconfigure :tight +11 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 800 counts +2 "manipulator"&'L +86 "core" ' + "storage"(4& +4 "core" & \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u' +275 "core" ' +3 "storage"(X- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +5 (5& +6 "core" & }\ | +3 "manipulator"&O& +5 "core" & ` a +2 .tElbow.seek 3 + "manipulator"&;( +9 "core" ( + "manipulator"&<& +4 "core" & e g \ +2 "storage"(G& +3 "core" & l\ | +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&'X +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(M'w +6 "core" & c a \ +2 "manipulator"&8% +3 "core" % Y a c  +2 .tForearm.seek :retract +2 "manipulator"&^'\ Z +92 "core" ' +3 .tElbow.seek PC +3 "manipulator"&0( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +81 "core" ( + "manipulator"&Y& +4 "core" & k m z h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" & w [  h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T's +106 "core" ' + "manipulator"&U& +4 "core" & _ g h +2 "manipulator"&&% +4 "core" %ϑ a b + "processing"%!& +4 "core" &M\ +2 "processing"%+& +5 "core" &D\ +2 .tPC.seek :closed + "processing"%@(Yy +5 "core" &J\ +7 &9P\ $e +9 &dTL\ 7 +9 &}M\ L +11 &khP\ O +9 &-cO\ O +9 & eP\ O +10 &"dQ\ N +9 &$tgO\ N +10 &&6eL\ N +9 &'cM\ O +9 &)hM\ O +9 &+{iT\ O +9 &-=hR\ O +9 &.kK\ O +10 &0cJ\ O +9 &2iJ\ O +10 &4EeD\ O +9 &6d?\ O +9 &7eB\ O +10 &9bL\ O +9 &;MgQ\ O +9 &=fE\ O +10 &>f@\ N +9 &@d;\ O +10 &BTg<\ O +9 &De<\ O +9 &Eh?\ O +10 &Ge;\ O +9 &I\\e;\ O +9 &KoJ\ P +10 &LvA\ Q +9 &N@\ R +10 &PT=\ T +9 &R?\ U +9 &S8\ U +10 &U?\ V +9 &WX>\ V +9 &Xg>\ ({ +10 &YSpA\ 9 +9 ( +2 &Y\\%?\ 0 + "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.52 + .Hand.open + "manipulator"&>1 +53 "core" 1 + "manipulator"&V% +4 "core" % Ϥ h _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ Z +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%[& +4 "core" &Y\\$A\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&m% +4 "core" %\ P c a  +2 "storage"(a% +3 "core" % 0\ | +2 "storage"(b. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(7(, +186 "core" ( +3 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +5 (n& +8 "manipulator"&%& +5 "core" &," E\ {  +2 & a b  h +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]K-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&q( +3 "storage"(f' +2 "core" ( +2 "manipulator"&H& +3 "core" & b ^ h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" & a \\ h +2 .tForearm.seek PC + "manipulator"&I's +102 "core" ' +2 .tPC.seek :sealed +2 "processing"%N(Ni +99 "core" ( +3 .tHand.close +2 "manipulator"&e/ +43 "core" ' +3 "storage"(- +7 "core" -' +3 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +3 "core" / +7 .tPC.seek :open +2 ."raiseStack"SE.seek :place +6 "processing"%p(u +6 "storage"(w' +30 "core" ' +283 ( + "storage"(W& +4 "core" &,! n\ y  +2 "manipulator"&j& +3 "core" & x n E h +2 "manipulator"&-% +3 "core" % . y b l +2 .tForearm.seek :retract + "manipulator"&s'\ Z +94 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +2 "manipulator"&g(H +255 "core" ( + "manipulator"&S& +4 "core" &J z n " @ + "storage"(]& +4 "core" &,! {\ z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&i'e +99 "core" ' + .tHand.open + "manipulator"&y1 +62 "core" 1 +2 "storage"(t- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"(`'l +19 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"('t +47 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(d- +7 "core" -'t +3 "storage"(& +8 "core" &, X W >\ q  +3 "manipulator"&l& +7 "core" &L a b > +3 .tElbow.seek 4 +3 "manipulator"&(H +6 "core" ( +3 "manipulator"&o& +7 "core" &L b a > +4 "storage"(z& +7 "core" &, U V ]\ q  +4 .tForearm.seek 4 + 800 counts +3 "manipulator"&'e +6 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +5 .tSE.seek -0.07 Pucks below Top Plate +3 "storage"( ' +60 "core" ' +3 "manipulator"&& +8 "core" &L k d > +3 "storage"(\ & +7 "core" &, H\ {  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +3 "manipulator"&~'E +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(h' +20 "core" ' + "manipulator"&% +4 "core" %X # +2 "storage"(& +3 "core" &,! \ y  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&Q'΄ +12 "core" ' + "manipulator"& & +4 "core" &L ` k > +2 "storage"(\\& +4 "core" &,! y\ {  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&'e +25 "core" ' + "storage"($% +4 "core" % \ | +3 ."downElevator"SE.seek :down +3 "storage"('w +98 ( % +4 "core" %pP \ yST +4 "manipulator"&% +7 "core" %\\ a a \ +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&'\ Z +93 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (|& +3 "core" &, %\ } +2 "collection"'_& +3 "core" &Y=\ v; +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&v% +4 "core" %\ p a a x + "storage"({% +4 "core" % \ ~ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"( (, +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (r& +2 "core" &, \ } +2 "manipulator"&& +3 "core" &N ] b < +2 .tElbow.seek 4 +2 "manipulator"&}(H +3 "core" ( + "manipulator"&k& +4 "core" &N ` i < +2 "storage"(& +3 "core" &, \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&'e +96 "core" ' +2 "storage"()& +4 "core" &, \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(' +270 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +2 "core" &O a h ; +2 "storage"(.& +3 "core" &, U\ | +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +47 "manipulator"&"'E +43 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(#- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate + "storage"(=' +29 "core" ' + "manipulator"&2% +4 "core" %S # +2 "storage"(& +3 "core" &, \ z +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&6' +15 "core" ' + "manipulator"&x& +4 "core" &O h e ; +2 "storage"(E& +3 "core" &, g\ | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts + "manipulator"&:'e +22 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(A' +39 "core" ' + "manipulator"& & +4 "core" &O b a ; +2 "manipulator"&F% +4 "core" %c a b P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ Z +91 "core" ' + .tElbow.seek CC +3 "manipulator"&D(S +152 "core" ( +3 "manipulator"&(& +8 "core" &M ^ a $ +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &?& +4 "core" &N b a # +2 .tForearm.seek CC + "manipulator"&*' +100 "core" ' +2 .tCC.seek :sealed +2 "collection"'9(P +91 "core" ( + .tHand.close + "manipulator"&J/ +65 "core" / +3 .tCC.seek :open +3 "collection"''( +333 "core" ( + "storage"(& +4 "core" &, \ ~ + "storage"(1& +4 "core" &, \ ~ + "manipulator"&4& +4 "core" &N } n e # + "manipulator"&% +4 "core" % } I  +2 .tForearm.seek :retract + "manipulator"&X'\ Z +99 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 4 +3 "manipulator"&5(H +152 "core" ( + "manipulator"&O& +5 "core" &P h _ + "storage"(<& +4 "core" &, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&G'E +109 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&B1 +57 "core" 1 +2 "manipulator"&8% +4 "core" % X  @ + "storage"(K& +4 "core" &, \ | + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts + "manipulator"&'΄ +20 "core" ' + "manipulator"&u& +4 "core" &R T f +2 "storage"(& +3 "core" &,  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 800 counts + "manipulator"&Y'e +32 "core" ' + "storage"(P% +4 "core" %'   Q\ +3 ."downElevator"SE.seek :down +2 "storage"(;'w +100 (U% +5 "core" %1M \ }SU +3 "manipulator"&&% +7 "core" %Z b b  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&!'\ Z +95 "core" ' +38 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 4 to 5 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp "collection"'M& +5 "core" &\ z + "manipulator"&^% +4 "core" %\ d b a  + "storage"(,% +4 "core" %v   \  + "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"(V(, +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 ([& +3 "core" &, A { \  + "manipulator"&m& +4 "core" &R d b +2 .tElbow.seek 4 + "manipulator"&a(H +3 "core" ( +2 "manipulator"&b& +3 "core" &R f V +2 "storage"(+& +4 "core" &,   +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 800 counts +2 "manipulator"&T'e +96 "core" ' + "storage"(%& +4 "core" &,  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n' +280 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &, \ ~ +2 "manipulator"&3& +3 "core" &R f ] +2 .tElbow.seek 4 + "manipulator"&(H +4 "core" ( + "manipulator"&e& +3 "core" &R c g  +2 "storage"(0& +3 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&c'q +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&@/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&N& +2 "storage"(f'w +9 "core" &R ` o [ + "manipulator"&W% +4 "core" % i b ] +2 .tForearm.seek :retract +2 "manipulator"&j'\ Z +94 "core" ' +3 .tElbow.seek CC +3 "manipulator"&-(S +153 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +2 "core" ( +2 "manipulator"&I& +3 "core" &W o  !t +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &W u ] \ !t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]' +100 "core" ' +2 "manipulator"&q& +4 "core" &W  !t +2 "manipulator"&y% +4 "core" % |   +2 "collection"'t& +4 "core" &\ x + "collection"'d& +5 "core" &\ x +2 .tCC.seek :closed +2 "collection"'(Y +4 "core" &\ x +9 &22{\ s*x +9 &.a\ s> +9 &{\ sO +10 &k]\ tN +9 &-^\ uN +9 & a\ tO +10 &"_\ tO +9 &$s_\ tN +10 &&4`\ tO +9 &'^\ tO +9 &)`\ tN +10 &+{Z\ uN +9 &-=]\ uN +9 &.`\ tN +10 &0`\ tN +9 &2_\ tN +10 &4E\\\ uN +9 &6Z\ uN +9 &7\\\ tN +10 &9\\\ tO +9 &;M`\ uN +9 &=_\ tN +10 &>_\ tN +9 &@`\ tN +10 &BT]\ tO +10 &D]\ tN +9 &EZ\ tN +10 &G\\\ tN +9 &I[f\ tO +9 &Kk\ tP +10 &Lr\ sP +9 &N|\ sR +10 &PO\ pV +9 &R \ pX +9 &S\ pX +10 &U\ oZ +9 &WK\ oZ +9 &Xy\ p5 +10 &Y%\ r!b +9 &Yg\ tH +6 ( +6 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 2.01 +2 .Hand.open +2 "manipulator"&l1 +6 "core" &Ym\ sH +50 1 +3 "manipulator"&o% +8 "core" % a ^  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ Z +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%z& +4 "core" &a\ +2 "manipulator"&% +3 "core" %\ X ] ] m +2 "storage"(\ % +3 "core" % \ } +2 "storage"(w. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(`(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +3 "core" &, \ | +2 "manipulator"&& +3 "core" &X ] ` !s +2 "manipulator"& % +3 "core" %\ X b a m +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&\\(H +157 "core" ( +3 "manipulator"&g& +8 "core" &O d i  +3 "storage"($& +7 "core" &, \ | +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 4 + 800 counts +2 "manipulator"&i'e +96 "core" ' + "storage"(& +4 "core" &, \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( ' +271 "core" ' +3 "storage"(- +7 "core" -' +3 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &, \ z + "manipulator"&& +4 "core" &O a a  + .tElbow.seek 4 +2 "manipulator"& (H +3 "core" ( + "manipulator"&~& +3 "core" &O d h  +2 "storage"(Q& +3 "core" &, m\ { +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&|'q +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +62 "core" / +2 ."downElevator"SE.seek :down +51 "manipulator"&v& +4 "storage"({'w +7 "core" &O a _  +2 "manipulator"&h% +4 "core" % h b ` + .tForearm.seek :retract +2 "manipulator"&'\ Z +96 "core" ' + .tElbow.seek PC +2 "manipulator"&r( +170 "core" ' + ."downElevator"SE.coast + "storage"(5 +75 "core" ( +3 "manipulator"&& +8 "core" &\ b d  p +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &k& +7 "core" &\ ` a p +3 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +3 "manipulator"&'s +99 "core" ' +3 "manipulator"&& +7 "core" &\ a b p +2 "manipulator"&)% +4 "core" %z [ b \ O +2 "processing"%& +4 "core" &S\ +2 "processing"%7& +5 "core" &L\ +2 .tPC.seek :closed + "processing"%(Yy +5 "core" &P\ +7 &:P\ #b +9 &gUN\ 7 +10 &~M\ L +9 &nhP\ O +9 &0hS\ O +10 & jV\ O +9 &"`S\ O +9 &$weH\ N +10 &&9cQ\ N +9 &'cO\ N +10 &)eQ\ N +9 &+cQ\ N +9 &-?jU\ O +10 &/dR\ N +9 &0dN\ O +3 "Can"}\ YTT +6 "core" &2hS\ N +10 &4IcP\ N +9 &6\ hV\ O +10 &7gT\ N +9 &9gR\ O +9 &;OeU\ O +10 &=bU\ O +10 &>hU\ N +9 &@bK\ N +10 &BYeT\ N +9 &DcU\ N +10 &EdM\ N +9 &GgK\ O +9 &I`hT\ O +10 &K!mE\ O +9 &LvR\ Q +9 &NK\ R +10 &PWQ\ T +9 &RL\ U +10 &SQ\ U +9 &UD\ V +9 &WZT\ V +10 &XdQ\ &v +9 &YTcS\ 2 +9 ( +5 "processing"%7& +6 #tProcessing Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.55 +2 .Hand.open +2 "manipulator"&1 +6 "core" &YX$K\ . +58 1 + "manipulator"&% +4 "core" % y i b  P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ Z +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%.& +4 "core" &YX$H\ . + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&#% +4 "core" %\ h b ] 6  +2 "storage"(2% +4 "core" %| `\ | + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(x(< +186 "core" ( +5 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (E& +5 "core" &< K\ z +4 "manipulator"& & +7 "core" &\ a b p + "manipulator"&F% +4 "core" %\ h \\ T   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +70 .tElbow.hold + "manipulator"&}, +3 "core" (.2 `s +22 , +3 .tSE.seek :down + "storage"('w +14 "core" ' + .tSE.coast + "storage"(5 +2 "manipulator"&"% +5 "core" %\ h _ `  + !to:IRB::Abort: mesg"Elbow seek to 5 Aborted!:@checkpoint: omitted:bt[ "9/home/brent/esp2/lib/slide.rb:325:in `unlimitedSeek'"1/home/brent/esp2/lib/slide.rb:315:in `times'"9/home/brent/esp2/lib/slide.rb:315:in `unlimitedSeek'"7/home/brent/esp2/lib/thread.rb:51:in `recoverable'"9/home/brent/esp2/lib/slide.rb:314:in `unlimitedSeek'"0/home/brent/esp2/lib/slide.rb:305:in `seek'"./home/brent/esp2/lib/slide.rb:349:in `to'":/home/brent/esp2/lib/slide.rb:69:in `inConfiguration'"./home/brent/esp2/lib/slide.rb:349:in `to'"./home/brent/esp2/utils/misc.rb:34:in `to'"2/home/brent/esp2/utils/misc.rb:115:in `place'"1/home/brent/esp2/utils/misc.rb:119:in `pick'"/home/brent/esp2/utils/shuffle.rb:18:in `each_with_index'"6/home/brent/esp2/utils/shuffle.rb:18:in `shuffle'"7/home/brent/esp2/utils/shuffle.rb:43:in `shuffle2'"(ESP):39:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3158 #-> Clamp +3 "collection"'6& +3 "core" &Yl\ sH +2 "processing"%=& +6 "core" &YX$O\ . +725 #t-> pucks +3095 #-> SEpick.thresholdOffset +947 #-> 90/SEinch.to_f +4185 #-> SEpick.thresholdOffset=-(0.05*SEinch).round +1197 #-> MainThread.exception +1613 #-> MainThread.resume +2 #Resuming after Elbow seek to 5 Aborted! at 14:23:54 +2 .Elbow.seek 5 +3 "manipulator"&(( +192 "core" ( + "manipulator"&?& +4 "core" & ^ h ? ) + "storage"(:& +4 "core" &< e\ z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"&'ϑ +104 "core" ' + "storage"(J& +4 "core" &< \ z +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/' +271 "core" ' + "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place + "storage"(9' +29 "core" ' +2 "manipulator"&& +4 "core" & a b ) + "manipulator"&1% +4 "core" %Ϯ ` a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ Z +95 "core" ' + .tElbow.seek PC +2 "manipulator"&( +250 "core" ( +3 "manipulator"&O& +8 "core" &\ b c x +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &<& +5 "core" &\ ` `  x +4 .tForearm.seek PC +2 "manipulator"&*'s +101 "core" ' +3 .tPC.seek :sealed +2 "processing"%D(Ni +98 "core" ( + .tHand.close + "manipulator"&B/ +59 "core" / + .tPC.seek :open +2 "processing"%8(u +320 "core" ( + "storage"(K& +4 "core" &< \ z + "manipulator"&u& +4 "core" &\ ` ` x + "manipulator"&% +4 "core" % ? a a ' +2 .tForearm.seek :retract +2 "manipulator"&P'\ Z +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&X( +250 "core" ( + "manipulator"&U& +4 "core" &  a ^ U + "storage"(&& +4 "core" &< F\ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&5'ϑ +95 "core" ' + .tHand.open + "manipulator"&G1 +65 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"(M'l +22 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"(^'t +52 "core" ' + #tLights, camera, ACTION! + "storage"(,- +4 "core" -'t + "storage"(>& +4 "core" &< I G S\ o + "manipulator"&A& +4 "core" &  f ^ +2 .tElbow.seek 5 + "manipulator"&[( +4 "core" ( + "manipulator"&m& +4 "core" &  g ^ + "storage"(b& +4 "core" &< J I d\ o +3 .tForearm.seek 5 + 800 counts +3 "manipulator"&+'ϑ +19 "core" ' +5 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +6 .tSE.seek -0.07 Pucks below Top Plate +2 "storage"(Y' +59 "core" ' +3 "manipulator"&%& +8 "core" &  a ` +3 "storage"(;& +7 "core" &< ~\ { +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +3 "manipulator"& 'q +37 "core" ' +3 .tElbow.hold +3 "manipulator"&Z, +7 "core" , +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +4 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(!' +23 "core" ' + "manipulator"&H% +4 "core" %̀ ~ 1 ~ +2 "storage"(L& +3 "core" &< v j\ w +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&3'ͬ +20 "core" ' + "manipulator"&e& +4 "core" &  d h +2 "storage"(0& +4 "core" &< \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&@'ϑ +16 "core" ' + "storage"(N% +4 "core" % \ { +3 ."downElevator"SE.seek :down +2 "storage"(W'w +99 (a% +4 "core" %O m p \ xSW +2 "manipulator"&T% +4 "core" %ύ ] `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ Z +93 "core" ' +59 ' +2 ."downElevator"SE.coast +2 "storage"(5 +5 .tSC.coast +2 "storage"(6 +4 (S& +8 "core" &< A\ } +3 "collection"'n& +8 "core" &Yk\ vH +3 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&c% +8 "core" %\ } a ` P +3 "storage"(q% +4 "core" % \ } + "storage"(y. +52 "core" . +4 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(t(< +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &< .\ } +2 "manipulator"&f& +3 "core" &  c d +2 .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( + "manipulator"&'& +4 "core" &  _ h +2 "storage"(l& +4 "core" &< \ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 800 counts +2 "manipulator"&o'ϑ +96 "core" ' + "storage"(z& +4 "core" &< \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(' +263 "core" ' + "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&w& +2 "core" &  ` a +2 "storage"(d& +3 "core" &< K\ | +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'q +35 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.14 Pucks below Top Plate +2 "storage"(]' +26 "core" ' + "manipulator"&g% +4 "core" %̅ | p O +2 "storage"($& +3 "core" &< ?\ z +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts + "manipulator"&V'ͱ +17 "core" ' + "manipulator"&& +4 "core" &  d i  +2 "storage"(-& +3 "core" &< G\ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"&s'ϑ +32 "core" ' +2 .tSE.seek 1.14 Pucks below Top Plate + "storage"(' +42 "core" ' + "manipulator"&& +4 "core" &  _ c +2 "manipulator"&% +4 "core" %t g b  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&~'\ Z +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q(S +159 "core" ( +3 "manipulator"&_& +7 "core" &^ d ^ # +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &v& +5 "core" &^ ` ` # +4 .tForearm.seek CC +2 "manipulator"&h' +96 "core" ' +2 .tCC.seek :sealed +2 "collection"'\\(P +91 "core" ( + .tHand.close + "manipulator"&i/ +59 "core" / + .tCC.seek :open +2 "collection"' ( +330 "core" ( + "storage"(|& +4 "core" &< \ | +2 "storage"(& +3 "core" &< M\ } + "manipulator"&k& +4 "core" &^ ^ a # +2 "manipulator"& % +3 "core" % n ` ?  +2 .tForearm.seek :retract + "manipulator"&'\ Z +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&)( +154 "core" ( + "manipulator"&& +4 "core" & d i +2 "storage"({& +3 "core" &< \ ~ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&'q +110 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % ~ {  Q + "storage"(.& +4 "core" &< \ { + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&#'ͪ +22 "core" ' + "manipulator"&2& +4 "core" & _ g +2 "storage"(7& +3 "core" &< \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"&'ϑ +16 "core" ' + "storage"(% +4 "core" %# \  +3 ."downElevator"SE.seek :down +3 "storage"(E'w +98 ( % +3 "core" %R \ }TX +2 "manipulator"&F% +3 "core" %ϙ a c % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ Z +93 "core" ' +51 ' +2 ."downElevator"SE.coast +2 "storage"(5 +5 .tSC.coast +2 "storage"(6 +5 #tShuffling two pucks from tube 5 to 6 of [1..7] +3 #Loading generic puck from tube 5 into Collection Clamp + "collection"'"& +9 "core" &\ z +3 "manipulator"&r% +7 "core" %\ T ` a  +4 "storage"(% +7 "core" %z  \ +3 "storage"(. +6 "core" . +3 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +5 .tSC.seek 5 +2 "storage"(6(< +4 "core" ( +3 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +5 (=& +3 "core" &< = d\  +2 "manipulator"&?& +4 "core" & ` b + .tElbow.seek 5 +2 "manipulator"&:( +8 "core" ( + "manipulator"&}& +4 "core" & j `  +2 "storage"(J& +3 "core" &<   ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"&R'ϑ +93 "core" ' +2 "storage"(C& +4 "core" &<  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(' +280 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" &< \ ~ + "manipulator"&& +4 "core" & b b  + .tElbow.seek 5 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&<& +3 "core" & ] e  +2 "storage"((& +3 "core" &< \ ~ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&B'͝ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +65 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(D'w +7 "core" & ` a  + "manipulator"&K% +4 "core" % ͚ ` a +2 .tForearm.seek :retract + "manipulator"&u'\ Z +95 "core" ' +5 .tElbow.seek CC +3 "manipulator"&(S +151 "core" ' + ."downElevator"SE.coast + "storage"(5 +7 "core" ( + "manipulator"&*& +4 "core" &] I m N "x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &] l p & "x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&&' +94 "core" ' + "manipulator"&& +4 "core" &] j e  "x +2 "manipulator"&G% +4 "core" % b b h + "collection"'& +4 "core" &\ y +2 "collection"',& +5 "core" &\ y +2 .tCC.seek :closed + "collection"'>(Y +4 "core" &\ x +8 &4\ w%f +10 &V\ s8 +9 &+\ sL +9 &]\ uN +10 &]\ uN +9 & l]\ uM +9 &".]\ uM +10 &#^\ tM +9 &%`\ uN +10 &'s\\\ tN +9 &)5\\\ uN +9 &*^\ uM +10 &,_\ uM +9 &.{]\ uN +9 &0>^\ uM +10 &2^\ tM +9 &3Z\ uN +10 &5Z\ uM +9 &7D]\ uN +9 &9^\ uN +10 &:_\ uN +9 &<]\ tN +9 &>N^\ uM +10 &@^\ tN +9 &A]\ uM +10 &C\\\ uM +11 &EV]\ tM +8 &G]\ tN +11 &Hb\ tN +8 &Jj\ tO +10 &LVo\ tP +9 &Ny\ sQ +9 &O\ rT +10 &Q\ pX +9 &SE\ pY +9 &U\ pY +10 &V\ oY +9 &X\ oG +9 &Y5\ q'u +10 &YA\ u? +5 ( +5 "collection"',& +6 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 2.03 +2 .Hand.open +2 "manipulator"&A1 +6 "core" &YE\ u? +56 1 +2 "manipulator"&m% +8 "core" % b a W +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ Z +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%P& +4 "core" &i\ + "manipulator"&%% +4 "core" %\ I V W +2 "storage"(;% +3 "core" % \ } +2 "storage"(9. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(M(< +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (H& +2 "core" &< \ } +2 "manipulator"&L& +3 "core" &] b ` "x +2 "manipulator"&e% +3 "core" %\ I a ` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +54 .tElbow.seek 5 +2 "manipulator"&0( +156 "core" ( +3 "manipulator"&X& +8 "core" &  b d  +3 "storage"(5& +7 "core" &< \ } +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 800 counts + "manipulator"&N'ϑ +94 "core" ' + "storage"(^& +4 "core" &< \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a' +261 "core" ' +3 "storage"(T- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +2 "core" &< \ } +2 "manipulator"&[& +4 "core" &  ` `  + .tElbow.seek 5 +2 "manipulator"&Y( +3 "core" ( + "manipulator"& & +4 "core" &  h `  + "storage"(S& +4 "core" &< \ } +2 .tForearm.seek 5 + 300 counts + "manipulator"&3'͝ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +53 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(c'w +7 "core" &  ` _  + "manipulator"&q% +4 "core" % ͛ a ` +2 .tForearm.seek :retract + "manipulator"&y'\ Z +94 "core" ' + .tElbow.seek PC +2 "manipulator"&( +167 "core" ' + ."downElevator"SE.coast + "storage"(5 +72 "core" ( + "manipulator"&f& +4 "core" &  u m [  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +2 "core" &  c b  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&l's +98 "core" ' +3 "manipulator"&@& +8 "core" &  b c  +3 "manipulator"&z% +8 "core" %q _ a [ +3 "processing"%W& +8 "core" &}\ +4 "processing"%x& +12 "core" &h\ +6 .tPC.seek :closed +3 "processing"%Z(Yy +8 "core" &m\ +2 &m\ +4 &8m\ #c +8 &dUn\ 8 +10 &n\ L +9 &pgm\ O +9 &4dm\ N +10 & im\ O +8 &"hm\ N +9 &$zec\ N +10 &&;c[\ O +9 &'be\ O +10 &)gl\ O +9 &+d\\\ N +9 &-Di^\ N +10 &/f]\ N +9 &0e[\ N +9 &2ie\ O +10 &4Lh]\ N +9 &6 eW\ O +10 &7ac\ N +9 &9e\\\ N +9 &;ShV\ O +10 &=hV\ O +9 &>gX\ O +9 &@cV\ O +10 &B[hU\ O +9 &DgU\ O +10 &EfV\ N +9 &GjV\ O +9 &IdcY\ N +10 &K#mZ\ O +9 &Lv\\\ Q +9 &N]\ Q +11 &P\\X\ T +9 &R`\ U +10 &S\\\ U +9 &UW\ U +9 &W]V\ V +10 &XdV\ &u +9 &YUpV\ 7 +9 ( +3 &Y]$V\ / +4 "processing"%x& +7 #tProcessing Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.52 +2 .Hand.open +2 "manipulator"&I1 +6 "core" &Y]#Y\ / +59 1 +3 "manipulator"&\ % +8 "core" % s c c Y +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"&w'\ Z +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%d& +4 "core" &Y]#f\ / + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %\ ^ b d w +2 "storage"(g% +3 "core" %x \ \ | +2 "storage"($. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 + "storage"((L2 +189 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (-& +3 "core" &L1# \ z  +2 "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]K-0-\ b +2 "core" &  a a  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&( +8 ."raiseStack"SE.seek :beamBreak +3 "storage"(o' +6 "core" ( +3 "manipulator"&j& +7 "core" &  a `  +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +7 "core" &  b i  +3 .tForearm.seek PC +3 "manipulator"&'s +101 "core" ' +3 .tPC.seek :sealed +2 "processing"%V(Ni +98 "core" ( + .tHand.close + "manipulator"&]/ +24 "core" ' + "storage"(_- +3 "core" -' +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(v' +23 "core" / + .tPC.seek :open +2 "processing"%s(u +4 "core" ' +313 ( +3 "storage"(& +7 "core" &L2# |\ y  +3 "manipulator"&i& +7 "core" &  b e C  +4 "manipulator"&~% +7 "core" % G n _ P 9 +4 .tForearm.seek :retract +2 "manipulator"&'\ Z +96 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&\\(! +246 "core" ( +3 "manipulator"&|& +8 "core" & { m N % +3 "storage"(& +7 "core" &L2# \ x  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 800 counts +3 "manipulator"&k'c +102 "core" ' +4 .tHand.open +2 "manipulator"& 1 +63 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"({'l +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.78 Pucks below Top Plate +2 "storage"(h't +51 "core" ' + #tLights, camera, ACTION! + "storage"(Q- +4 "core" -'t + "storage"(& +4 "core" &L2" I K 6\ o  + "manipulator"&& +4 "core" & a b % + .tElbow.seek 6 +2 "manipulator"&.(! +3 "core" ( + "manipulator"&2& +4 "core" & ] h % +2 "storage"(7& +3 "core" &L2" I J \ o  +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&'c +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.07 Pucks below Top Plate + "storage"(' +58 "core" ' + "manipulator"& & +4 "core" & ` a % +2 "storage"(F& +3 "core" &L2$ Q\ |  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&)'C +38 "core" ' +3 .tElbow.hold +3 "manipulator"&, +7 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +4 .tSE.seek 0.12 Pucks below Top Plate +3 "storage"("' +23 "core" ' +3 "manipulator"&#% +7 "core" %S }  + "storage"(r& +4 "core" &L2# _ _ F\ x  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&' +24 "core" ' + "manipulator"&& +4 "core" & _ f % +2 "storage"(& +4 "core" &L2# \ z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 800 counts + "manipulator"&='c +27 "core" ' + "storage"(?% +5 "core" % .\ { +2 ."downElevator"SE.seek :down +3 "storage"(}'w +99 (J% +3 "core" %Q ^\ yTW +2 "manipulator"&% +4 "core" %[ c a b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ Z +98 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (E& +3 "core" &L2 \ ~ +2 "collection"'t& +4 "core" &YE\ w? + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&p% +4 "core" %\ > ` a  +2 "storage"(`% +3 "core" % \ ~ +2 "storage"(1. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(/(L2 +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &L2 \ } +2 "manipulator"&<& +3 "core" & ` ` 7 % +2 .tElbow.seek 6 +2 "manipulator"&((! +3 "core" ( + "manipulator"&4& +4 "core" & h ` % + "storage"(& +4 "core" &L2 \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&K'c +93 "core" ' +3 "storage"(:& +8 "core" &L2 \ ~ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(R' +262 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +2 "core" & a a $ +2 "storage"(& +3 "core" &L2 \ } +51 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&B'C +38 "core" ' +3 .tElbow.hold +2 "manipulator"&, +7 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 "storage"(G- +6 "core" -' +5 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(' +24 "core" ' +3 "manipulator"&O% +8 "core" %L e l ) +3 "storage"(D& +6 "core" &L2 \ z +3 .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 6 + 309 counts +2 "manipulator"&u'x +17 "core" ' +3 "manipulator"& & +8 "core" & _ \\ $ +3 "storage"(A& +7 "core" &L2 \ | +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 800 counts +3 "manipulator"&m'c +30 "core" ' +4 .tSE.seek 1.15 Pucks below Top Plate +3 "storage"(P' +40 "core" ' +2 "manipulator"&%& +4 "core" & a a $ + "manipulator"&;% +4 "core" %T b b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ Z +92 "core" ' + .tElbow.seek CC +2 "manipulator"&9(S +153 "core" ( + "manipulator"&H& +4 "core" &T ` g "} +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +4 "core" &T ` _ "} +6 .tForearm.seek CC +3 "manipulator"&e' +96 "core" ' +2 .tCC.seek :sealed +2 "collection"'&(P +94 "core" ( + .tHand.close + "manipulator"&X/ +59 "core" / + .tCC.seek :open +2 "collection"'5( +333 "core" ( +3 "storage"(6& +8 "core" &L2 \ ~ +3 "storage"(^& +7 "core" &L2 \ ~ +2 "manipulator"&& +8 "core" &U ] a "| +2 "manipulator"&b% +8 "core" %  ~ o q 9 +3 .tForearm.seek :retract +3 "manipulator"&T'\ Z +95 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +2 "manipulator"&+(! +158 "core" ( + "manipulator"&[& +4 "core" &* h d   +2 "storage"( & +3 "core" &L2 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&S'C +110 "core" ' +3 .tElbow.hold +2 "manipulator"&n, +7 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator"&!1 +60 "core" 1 +4 "manipulator"&q% +8 "core" % P  s +3 "storage"(0& +8 "core" &L2 \ } +2 .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 6 + 313 counts +3 "manipulator"&N'| +19 "core" ' + "manipulator"&a& +4 "core" &+ a g  +2 "storage"(3& +3 "core" &L2  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts + "manipulator"&f'c +21 "core" ' + "storage"('% +4 "core" %#   3\  +3 ."downElevator"SE.seek :down +2 "storage"(Y'w +99 (@% +3 "core" %N \ }TW +2 "manipulator"&z% +3 "core" %` ` _ \ \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&W'\ Z +91 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling two pucks from tube 6 to 7 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp "collection"'c& +5 "core" &\ z +4 "manipulator"&y% +8 "core" %\ K\ ` a  +4 "storage"(8% +7 "core" % d 2 G\ +3 "storage"(I. +6 "core" . +4 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +5 .tSC.seek 6 +2 "storage"(\ (L2 +5 "core" ( +3 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (d& +7 "core" &L2 c \  +3 "manipulator"& & +7 "core" &+ c a  +4 .tElbow.seek 6 +2 "manipulator"&x(! +7 "core" ( +3 "manipulator"&g& +8 "core" &+ ] `  +3 "storage"($& +4 "core" &L2 \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts + "manipulator"&l'c +90 "core" ' + "storage"(-& +4 "core" &L2  A\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(' +283 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &L2 \ ~ + "manipulator"&M& +4 "core" &+ ` `  +2 .tElbow.seek 6 + "manipulator"&_(! +3 "core" ( + "manipulator"&& +4 "core" &+ g ^  + "storage"(]& +4 "core" &L2 \ ~ +2 .tForearm.seek 6 + 300 counts + "manipulator"&w'o +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Z/ +58 "core" / +5 ."downElevator"SE.seek :down +7 "manipulator"&o& +2 "storage"(V'w +14 "core" &+ a a  +3 "manipulator"&% +8 "core" % u ` ^ ) +4 .tForearm.seek :retract +3 "manipulator"&i'\ Z +95 "core" ' +3 .tElbow.seek CC +3 "manipulator"&~(S +145 "core" ' + ."downElevator"SE.coast + "storage"(5 +12 "core" ( + "manipulator"&& +4 "core" &P n k ) # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &P ` b # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&' +97 "core" ' +3 "manipulator"&& +8 "core" &Q k x 8 # +3 "manipulator"& % +8 "core" % b y  5 +3 "collection"'& +8 "core" &\ y +4 "collection"'Q& +9 "core" &\ x +4 &\ y +4 .tCC.seek :closed +5 "collection"'(Y +6 "core" &\ x +6 &\ x7 +6 &wGy\ s1 +10 &q\ sE +9 &Df\ tN +9 &]\ tN +10 &\\\ tN +9 &![\ tM +9 &#N\\\ uN +10 &%_\ tN +9 &&^\ tN +10 &(Z\ tN +9 &*W\\\ tM +9 &,]\ tN +10 &-`\ tN +9 &/Z\ tN +9 &1_Z\ tM +9 &3 [\ tN +9 &4\\\ uN +10 &6[\ tM +9 &8f^\ tN +9 &:(`\ tN +10 &;\\\ tM +9 &=]\ tM +9 &?n\\\ uN +10 &A/`\ uN +9 &BZ\ uN +10 &DY\ uM +9 &Fv]\ uN +9 &H7\\\ uN +10 &Ik\ tO +9 &Kh\ tO +9 &Mur\ tQ +10 &O1\ sS +9 &P\ pW +10 &R\ pY +9 &Tf\ pY +9 &V&\ pY +10 &W\ pZ +9 &YBM\ s3 +10 &YF\ u; +6 ( + "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 5/26 samples, on/off torque 2.02 + .Hand.open + "manipulator"&1 +4 "core" &Y9\ u; +50 1 + "manipulator"&2% +4 "core" %  g ^ ) 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&7'\ Z +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &w\ + "manipulator"& % +4 "core" %\ N\ a a  +2 "storage"(F% +3 "core" % \ } +2 "storage"(v. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(#(L2 +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (r& +2 "core" &L2 \ } +2 "manipulator"&{& +4 "core" &R a ` "~ + "manipulator"&% +4 "core" %\ N\ ` `  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&(! +158 "core" ( + "manipulator"&?& +4 "core" &* i `  +2 "storage"(\\& +3 "core" &L2 \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 800 counts +2 "manipulator"&k'c +96 "core" ' + "storage"(h& +4 "core" &L2 \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J' +271 "core" ' +3 "storage"(- +5 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &L2 I\ { +2 "manipulator"&.& +3 "core" &* ` \\  +2 .tElbow.seek 6 + "manipulator"&(! +4 "core" ( + "manipulator"&)& +3 "core" &* g c  +2 "storage"(& +3 "core" &L2 \ | +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&E'o +16 "core" ' + .tForearm.reconfigure :loose +53 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(`'w +7 "core" &* ` `  + "manipulator"&1% +4 "core" % u d k +2 .tForearm.seek :retract + "manipulator"&"'\ Z +93 "core" ' +3 .tElbow.seek PC +3 "manipulator"&( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +80 "core" ( + "manipulator"&<& +4 "core" & r h K k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" & o k  k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'s +90 "core" ' +2 "manipulator"&=& +4 "core" & i c k +2 "manipulator"&:% +4 "core" %| a ` + "processing"%}& +4 "core" &o\ +2 "processing"%& +5 "core" &n\ +2 .tPC.seek :closed + "processing"%(Yy +4 "core" &m\ +8 &Aw\ $e +9 &nUo\ 7 +10 &m\ L +9 &xem\ N +10 &9ho\ O +10 & gt\ O +9 &"cp\ N +10 &$gr\ O +9 &&Afu\ O +9 &(cn\ N +10 &)dh\ O +9 &+bh\ N +10 &-Jfr\ N +9 &/ hx\ O +8 &0h{\ N +10 &2cy\ O +9 &4Rgs\ N +9 &6hv\ N +10 &7av\ N +9 &9bp\ N +10 &;Zco\ N +9 &=eu\ O +9 &>en\ O +10 &@eo\ O +9 &Bafm\ O +9 &D#fl\ O +10 &Ehp\ N +9 &Gg{\ O +10 &Ijjk\ N +9 &K*nl\ O +9 &Lvm\ P +10 &Nu\ R +9 &P`n\ T +9 &Rn\ V +10 &St\ U +9 &U|\ V +10 &Wex\ U +9 &X_v\ #m +9 &Y[dw\ . +10 ( + &Yaf\ ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.54 + .Hand.open + "manipulator"&C1 +56 "core" 1 + "manipulator"&*% +4 "core" % σ g d } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ Z +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Yaf\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&G% +4 "core" %\ U ` `  +2 "storage"(O% +3 "core" % \ | +2 "storage"(D. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"( ([ +194 "core" ( +3 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +5 (A& +4 "manipulator"&%& +14 "core" &[# )\ {  +2 & a ` k +6 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +8 "storage"(#]K-0-\ b +7 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(;' + "manipulator"&K( +6 "core" ( + "manipulator"&(& +4 "core" & a a k + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" & Z b k +2 .tForearm.seek PC +2 "manipulator"&B's +99 "core" ' +2 .tPC.seek :sealed +2 "processing"%u(Ni +94 "core" ( +2 .tHand.close + "manipulator"&/ +50 "core" ' +3 "storage"(H- +8 "core" / + -' +4 ."raiseStack"SE.configure :default +5 .tPC.seek :open +6 "storage"(#QK-0-\ b +3 "processing"%L(u +7 ."raiseStack"SE.seek :place +7 "storage"(m' +28 "core" ' +278 ( + "storage"(& +4 "core" &[" e\ z  + "manipulator"&X& +4 "core" & i d  k + "manipulator"&,% +4 "core" % E ` ` / +2 .tForearm.seek :retract + "manipulator"&>'\ Z +98 "core" ' +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +3 "manipulator"&&( +251 "core" ( + "manipulator"&6& +4 "core" & h c K  +2 "storage"(^& +3 "core" &[" \ z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&'H +92 "core" ' + .tHand.open + "manipulator"&b1 +60 "core" 1 +2 "storage"([- +3 "core" -' +2 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"( 'l +25 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.78 Pucks below Top Plate + "storage"(e't +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(9- +7 "core" -'t +4 "storage"(!& +7 "core" &[" I G \ o  +3 "manipulator"&q& +7 "core" & \\ _  +4 .tElbow.seek 7 +2 "manipulator"&0( +7 "core" ( +3 "manipulator"&a& +8 "core" & c h  +3 "storage"(3& +8 "core" &[" ? A \ p  +4 .tForearm.seek 7 + 800 counts +3 "manipulator"&''H +6 "core" ' +4 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +5 .tSE.seek -0.07 Pucks below Top Plate +2 "storage"(T' +60 "core" ' +3 "manipulator"&@& +8 "core" & _ `  +3 "storage"(z& +7 "core" &[# \ |  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +3 "manipulator"&+'( +32 "core" ' +3 .tElbow.hold +2 "manipulator"&S, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(c' +19 "core" ' + "manipulator"&N% +4 "core" %< n { ; +2 "storage"(y& +3 "core" &[" ` j\ x  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&8'h +20 "core" ' + "manipulator"&P& +5 "core" & b f  + "storage"(I& +4 "core" &[" \ {  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts + "manipulator"&d'H +15 "core" ' + "storage"( % +4 "core" % }\ | +2 ."downElevator"SE.seek :down +4 "storage"(g'w +99 ($% +3 "core" %Q \ yTY +2 "manipulator"&f% +4 "core" %> a d . + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ Z +89 "core" ' +71 ' +2 ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 (Y& +3 "core" &[ @\ } +2 "collection"'/& +4 "core" &Y9\ w; + #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&n% +4 "core" %\ J a a +2 "storage"(W% +4 "core" %y \ ~ + "storage"(j. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (M& +2 "core" &[ \ ~ +2 "manipulator"&& +3 "core" & ` _  +2 .tElbow.seek 7 +2 "manipulator"&]( +3 "core" ( + "manipulator"&Z& +4 "core" & a \\  + "storage"(o& +4 "core" &[ \ ~ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&'H +96 "core" ' + "storage"(x& +4 "core" &[ \ ~ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l' +263 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & g a  +2 "storage"(|& +3 "core" &[ \ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&w'( +36 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"(_' +25 "core" ' + "manipulator"&% +4 "core" %: q w + "storage"(V& +4 "core" &[ N\ { + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&i'f +19 "core" ' + "manipulator"&5& +4 "core" & c f  +2 "storage"(& +3 "core" &[ \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts + "manipulator"&2'H +22 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate +52 "storage"(' +41 "core" ' + "manipulator"& & +4 "core" & d h  +2 "manipulator"&F% +4 "core" %X g c ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&v'\ Z +97 "core" ' + .tElbow.seek CC +2 "manipulator"&Q(S +156 "core" ( +4 "manipulator"&r& +8 "core" &W a a "y +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &{& +2 "core" &W _ c "y +2 .tForearm.seek CC +2 "manipulator"&' +97 "core" ' +2 .tCC.seek :sealed +2 "collection"'(P +93 "core" ( + .tHand.close + "manipulator"&?/ +62 "core" / +3 .tCC.seek :open +3 "collection"'\\( +333 "core" ( + "storage"(\ & +4 "core" &[ \ } +2 "storage"(h& +3 "core" &[ \ } +2 "manipulator"&~& +3 "core" &X } n "x +2 "manipulator"&7% +3 "core" %  { n Q # +2 .tForearm.seek :retract +2 "manipulator"&'\ Z +98 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +3 "manipulator"&( +156 "core" ( + "manipulator"&.& +4 "core" & g _  +2 "storage"()& +3 "core" &[ \ ~ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 7 +2 "manipulator"&'( +107 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&p1 +56 "core" 1 +2 "manipulator"&1% +4 "core" % ; n  + "storage"(& +3 "core" &[ \ | +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +3 "manipulator"&k'g +18 "core" ' + "manipulator"&J& +4 "core" & c h  +2 "storage"(E& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 800 counts + "manipulator"&<'H +21 "core" ' + "storage"(4% +4 "core" %& N +\  +3 ."downElevator"SE.seek :down +3 "storage"('w +98 (=% +3 "core" %M \ }TW +2 "manipulator"&:% +7 "core" %? \\ _ \ \\ +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&}'\ Z +88 "core" ' +48 ' +2 ."downElevator"SE.coast +2 "storage"(5 +5 .tSC.coast +2 "storage"(6 +5 #tShuffling two pucks from tube 7 to 1 of [1..7] +3 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'`& +8 "core" &\ { +3 "manipulator"&"% +8 "core" %\ l c a y +3 "storage"(s% +5 "core" %   U\ +2 "storage"(C. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(*([ +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &[  \  +2 "manipulator"&G& +3 "core" & ` ` \\  +2 .tElbow.seek 7 +2 "manipulator"&O( +3 "core" ( + "manipulator"&D& +4 "core" & c h  + "storage"(& +4 "core" &[  !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 800 counts +2 "manipulator"&'H +94 "core" ' + "storage"(%& +4 "core" &[  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A' +280 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &[ \ ~ + "manipulator"&#& +4 "core" & ` _  +2 .tElbow.seek 7 + "manipulator"&( +3 "core" ( +2 "manipulator"&H& +4 "core" & \\ f  +2 "storage"(& +3 "core" &[ \ ~ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&U'T +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&u& +2 "storage"(;'w +6 "core" & a d !  +2 "manipulator"&% +3 "core" % W c ` +2 .tForearm.seek :retract +2 "manipulator"&X'\ Z +92 "core" ' +5 .tElbow.seek CC +2 "manipulator"&,(S +155 "core" ' + ."downElevator"SE.coast + "storage"(5 +3 "core" ( +2 "manipulator"&B& +3 "core" &Y ` i E "{ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &Y k q " "{ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&^' +101 "core" ' + "manipulator"&K& +4 "core" &Z { ] "z +2 "manipulator"&b% +4 "core" %  :  + "collection"'[& +4 "core" &\ x +2 "collection"'9& +4 "core" &\ x +3 .tCC.seek :closed + "collection"'!(Y +5 "core" &\ y +9 &42y\ t*z +10 &5d\ s? +9 &x\ sO +10 &{\\\ uN +9 &<Z\ tN +9 & \\\ tN +10 &"Z\ tN +9 &$Y\ tM +9 &&EZ\ tN +10 &(Y\ uN +9 &)[\ tN +10 &+Z\ uN +9 &-M[\ tN +9 &/^\ tN +10 &0[\ tM +9 &2Z\ tM +9 &4UZ\ uN +10 &6]\ tN +9 &7[\ tN +10 &9_\ tN +9 &;\\\\\ tN +9 &=Z\ tN +10 &>Y\ tN +9 &@\\\ tN +9 &BeY\ uN +11 &D(Z\ uM +9 &E]\ tN +10 &G\\\ tN +9 &Iic\ sO +9 &K*h\ sO +10 &Ln\ sP +9 &N~\ sR +9 &P]\ pV +10 &R\ pX +9 &S\ oY +10 &U\ oZ +9 &WZ\ oZ +9 &Xz\ q- +10 &Y,\ qL +8 ( +3 &Y<\ u> +4 "collection"'9& +8 #tCollection Clamp onSpring/offSpring for 5/25 samples, on/off torque 2.06 +2 .Hand.open +2 "manipulator"&q1 +6 "core" &Y;\ u> +52 1 +2 "manipulator"&a% +8 "core" %  _ ]  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&>'\ Z +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%3& +4 "core" &w\ + "manipulator"&@% +4 "core" %\ M\ ` a  +2 "storage"(z% +3 "core" % \ } + "storage"(m. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"( ([ +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (N& +2 "core" &[ \ | +2 "manipulator"&y& +4 "core" &[ g c "y + "manipulator"&P% +4 "core" %\ M\ _ `  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&I( +153 "core" ( +3 "manipulator"&&& +8 "core" & d b  +3 "storage"( & +7 "core" &[ \ ~ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 800 counts +3 "manipulator"&'H +94 "core" ' + "storage"(e& +4 "core" &[ \ ~ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($' +261 "core" ' +3 "storage"(f- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +5 ('& +6 "core" &[ 7\ } +3 "manipulator"&0& +7 "core" & g i  +4 .tElbow.seek 7 +2 "manipulator"&T( +6 "core" ( +3 "manipulator"&+& +7 "core" & g e   +3 "storage"(8& +7 "core" &[ \ } +4 .tForearm.seek 7 + 300 counts +3 "manipulator"&Y'T +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +59 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&n& +2 "storage"(c'w +6 "core" & ` a  +2 "manipulator"&W% +3 "core" % Q c a +2 .tForearm.seek :retract +2 "manipulator"&j'\ Z +92 "core" ' + .tElbow.seek PC +2 "manipulator"&M( +169 "core" ' + ."downElevator"SE.coast + "storage"(5 +76 "core" ( + "manipulator"&& +4 "core" & j k : k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +2 "core" & b ] k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&o's +92 "core" ' +3 "manipulator"&d& +8 "core" & n j i k +4 "manipulator"&x% +6 "core" %w ` ` +4 "processing"%g& +110 "core" &t\ +6 "processing"% & +9 "core" &m\ +7 .tPC.seek :closed +2 "processing"%S(Yy +9 "core" &m\ +2 &m\ +4 &9o\ #c +8 &gVq\ 8 +9 &w\ L +9 &rfp\ O +9 &7en\ N +9 & eo\ O +10 &"bl\ O +9 &$|hu\ O +9 &&>gn\ O +10 &(ek\ O +9 &)dl\ O +9 &+bm\ N +10 &-Efm\ O +9 &/bm\ O +9 &0cn\ N +10 &2gl\ O +9 &4Nfi\ O +10 &6db\ O +9 &7`f\ N +9 &9bv\ N +10 &;V`n\ O +9 &=eq\ N +9 &>c_\ N +10 &@cX\ O +9 &B_`i\ N +10 &D!cb\ N +9 &Eh]\ O +9 &GeX\ O +10 &Ifb\\\ O +10 &K&jd\ O +9 &Lub\ Q +10 &Nf\ Q +9 &P]`\ T +10 &Rj\ U +9 &Sa\ U +9 &U\\\ U +10 &W`e\ V +9 &Xcf\ $p +9 &Y]\\`\ ) +9 ( +4 &Y_]\ ' +3 "processing"% & +8 #tProcessing Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.55 +2 .Hand.open +2 "manipulator"&-1 +7 "core" &Y_U\ ' +48 1 +2 "manipulator"&% +9 "core" % ρ a f +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&'\ Z +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%|& +4 "core" &Y_T\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"& % +3 "core" %\ e _ a  +2 "storage"(% +3 "core" % (\ } +2 "storage"(V. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(5( +976 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& + "manipulator"& & +4 "core" & 7\ | +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]K-0-\ b +2 "core" & _ ` k +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&F( +3 "storage"(' +4 "core" ( + "manipulator"&]& +4 "core" & a a k + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" & \\ S ( k +2 .tForearm.seek PC + "manipulator"&w's +99 "core" ' +4 .tPC.seek :sealed +2 "processing"%i(Ni +97 "core" ( +3 .tHand.close +2 "manipulator"&_/ +40 "core" ' +3 "storage"(r- +6 "core" -' +3 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +3 "storage"({' +3 "core" / + .tPC.seek :open +2 "processing"%2(u +20 "core" ' +296 ( +3 "storage"(& +8 "core" & 3\ { +3 "manipulator"&?& +7 "core" & a e h k +3 "manipulator"&v% +7 "core" % H ` a 5 +4 .tForearm.seek :retract +2 "manipulator"&'\ Z +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +259 "core" ( + "manipulator"&\ & +4 "core" & g ` [ +2 "storage"(h& +3 "core" & \ | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&~'R +103 "core" ' + .tHand.open + "manipulator"&71 +56 "core" 1 +4 "storage"(.- +7 "core" -' +4 .tSE.seek -0.19 Pucks below Top Plate +2 "storage"()'l +26 "core" ' +3 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +5 .tSE.seek -0.78 Pucks below Top Plate +2 "storage"('t +48 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(Q- +7 "core" -'t +3 "storage"(p& +8 "core" & V V ;\ r +2 "manipulator"&1& +8 "core" &\ ` ` Y +3 .tElbow.seek 1 +3 "manipulator"&( +7 "core" ( +3 "manipulator"&J& +8 "core" &\ ` _ Y +3 "storage"(E& +7 "core" & T T 0\ r +4 .tForearm.seek 1 + 800 counts +3 "manipulator"&4'R +14 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.07 Pucks below Top Plate +3 "storage"(' +61 "core" ' + "manipulator"&=& +4 "core" &\ a i Y +2 "storage"(:& +4 "core" & |\ { + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&'2 +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(`' +23 "core" ' + "manipulator"&k% +4 "core" %F d a  I +2 "storage"("& +4 "core" & }\ z + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 320 counts + "manipulator"&'r +19 "core" ' + "manipulator"&s& +4 "core" & ] h V +2 "storage"(C& +4 "core" & O\ } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 800 counts + "manipulator"&'R +16 "core" ' + "storage"(G% +5 "core" % \ } +3 ."downElevator"SE.seek :down +3 "storage"(D'w +99 (% +6 "core" %kQ c\ zTX +4 "manipulator"&<% +8 "core" %K ` ` e , +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&%'\ Z +98 "core" ' +43 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +2 (& +4 "core" & \ ~ +2 "collection"'& +4 "core" &Y;\ w> +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&t% +3 "core" %\ ] b b +2 "storage"(}% +4 "core" % \ ~ +2 "storage"((. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(R( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (#& +3 "core" & \ } + "manipulator"&H& +4 "core" &\ ` ` U +2 .tElbow.seek 1 + "manipulator"&( +30 "core" ( + "manipulator"&& +4 "core" & i g ~ +2 "storage"(u& +3 "core" & \ ~ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts + "manipulator"&'R +94 "core" ' + "storage"(O& +4 "core" & \ } +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(' +261 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +2 "core" & ` _ ~ +2 "storage"(A& +3 "core" & \ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&U'2 +31 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(b- +2 "core" -' +2 .tSE.seek 0.15 Pucks below Top Plate +2 "storage"([' +27 "core" ' + "manipulator"&% +4 "core" %E x m [ + "storage"(;& +4 "core" & q\ { + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts + "manipulator"&X'q +19 "core" ' + "manipulator"&\\& +4 "core" & b d | +2 "storage"(q& +4 "core" & \ } + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts + "manipulator"&a'R +22 "core" ' +2 .tSE.seek 1.15 Pucks below Top Plate + "storage"(3' +39 "core" ' + "manipulator"&@& +4 "core" & ^ a | +2 "manipulator"&z% +4 "core" %f h ` - + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9'\ Z +86 "core" ' +3 .tElbow.seek CC +3 "manipulator"&m(S +158 "core" ( + "manipulator"&N& +4 "core" &W c f "y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &W [ W "y +2 .tForearm.seek CC + "manipulator"&P' +98 "core" ' +2 .tCC.seek :sealed +2 "collection"'^(P +96 "core" ( + .tHand.close + "manipulator"&&/ +56 "core" / +3 .tCC.seek :open +3 "collection"' ( +333 "core" ( + "storage"(*& +4 "core" & \ } + "storage"(e& +4 "core" & \ } +2 "manipulator"&,& +55 "core" &X  "x +5 "manipulator"&>% +9 "core" %   9 +4 .tForearm.seek :retract +2 "manipulator"&f'\ Z +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&'( +154 "core" ( + "manipulator"&0& +4 "core" & i b  +2 "storage"(+& +3 "core" & \ ~ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&8'2 +108 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&n1 +63 "core" 1 +2 "manipulator"&W% +4 "core" % B |  c + "storage"(I& +4 "core" & \ \ } + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 316 counts + "manipulator"&'n +20 "core" ' + "manipulator"&$& +4 "core" & i j 8  +2 "storage"(Y& +3 "core" & *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 800 counts + "manipulator"&'R +31 "core" ' +4 "storage"(Z% +9 "core" %(  N '\ +4 ."downElevator"SE.seek :down +6 "storage"(T'w +99 (d% +5 "core" %IP \ }SW +4 "manipulator"&x% +7 "core" %D a f +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&g'\ Z +92 "core" ' +42 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +13311 "Can"}\ a--{ +60002 }\ a--t +60003 {\ `--